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Since photovoltaic (PV) plants require periodic maintenance, using UnmannedAerial Vehicles (UAV) for inspections can help reduce costs. The thermal andvisual inspection of PV installations is currently based on UAV photogrammetry.A UAV equipped with a Global Positioning System (GPS) receiver is assigned aflight zone: the UAV will cover it back and forth to collect images to be latercomposed in an orthomosaic. The UAV typically flies at a height above theground that is appropriate to ensure that images overlap even in the presenceof GPS positioning errors. However, this approach has two limitations. Firstly,it requires to cover the whole flight zone, including "empty" areas between PVmodule rows. Secondly, flying high above the ground limits the resolution ofthe images to be later inspected. The article proposes a novel approach usingan autonomous UAV equipped with an RGB and a thermal camera for PV moduletracking. The UAV moves along PV module rows at a lower height than usual andinspects them back and forth in a boustrophedon way by ignoring "empty" areaswith no PV modules. Experimental tests performed in simulation and an actual PVplant are reported.

Thermal and Visual Tracking of Photovoltaic Plants for Autonomous UAV inspection