PATH PLANNING OF SINGLE-ARRAY PHOTOVOLTAIC CLEANING ROBOT BASED ON IMPROVED SSA

Gao Yu; Li Jie; Tian Haibo; Zhu Yixuan; Yang Haonan; Ma Chuang

doi:10.19912/j.0254-0096.tynxb.2025-0373

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Acta Energiae Solaris Sinica ›› 2026, Vol. 47 ›› Issue (7) : 457-464. DOI: 10.19912/j.0254-0096.tynxb.2025-0373

PATH PLANNING OF SINGLE-ARRAY PHOTOVOLTAIC CLEANING ROBOT BASED ON IMPROVED SSA

Gao Yu^1,2, Li Jie¹, Tian Haibo², Zhu Yixuan¹, Yang Haonan¹, Ma Chuang¹

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Abstract

To improve the cleaning efficiency of photovoltaic modules, this study investigates path planning for a photovoltaic cleaning robot and proposes a mobile robot path-planning method based on an improved sparrow search algorithm （HASSA）. A Halton sequence is introduced to alleviate the non-uniform distribution of the initial population, and a dynamic factor is designed to adaptively adjust the numbers of discoverers and followers, thereby enhancing the optimization capability of the sparrow search algorithm. A path-planning model for the cleaning robot is established, and the fitness value function is reconstructed by considering practical operating conditions. The improved sparrow search algorithm is then applied to the photovoltaic cleaning path-planning problem, and simulation experiments are conducted to compare its performance with that of several other algorithms. The results show that the path obtained by HASSA achieves the best overall path performance. Finally, field experiments are carried out, and the results indicate that the proposed method performs better than conventional algorithms in photovoltaic cleaning path planning.

Key words

photovoltaic modules / dust / mobile robot / path planning / power generation efficiency / sparrow search algorithm

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Gao Yu, Li Jie, Tian Haibo, Zhu Yixuan, Yang Haonan, Ma Chuang. PATH PLANNING OF SINGLE-ARRAY PHOTOVOLTAIC CLEANING ROBOT BASED ON IMPROVED SSA[J]. Acta Energiae Solaris Sinica. 2026, 47(7): 457-464 https://doi.org/10.19912/j.0254-0096.tynxb.2025-0373

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