Integrated path planning and power management for solar-powered unmanned ground vehicles

This paper examines an integrated path planning and power management problem for a solar-powered unmanned ground vehicle (UGV). The proposed method seeks to minimize the travel time of the UGV through an area with a known energy density by designing an optimal path and allocating the vehicle´s power among its electrical components, while the UGV operates under strict power constraints and harvests ambient environmental energy along the designed path. A scalar field is first established to evaluate the solar radiation density at discrete locations. A modified Particle Swarm Optimization method is applied to search for a minimal time path wherein the energy gathered is equal to or greater than the energy expended. The proposed modeling and optimization strategy is verified through computer simulation and experimental demonstration.