Ricardo Morais

Abstract
Solar energy will contribute to global economic growth, increasing worldwide photovoltaic (PV) solar energy production. More recently, one of the outstanding energy achievements of the last decade has been the development of floating photovoltaic panels. These panels differ from conventional (ter-restrial) panels because they occupy space in a more environmen-tally friendly way, i.e., aquatic areas. In contrast, land areas are saved for other applications, such as construction or agriculture. Developing autonomous inspection systems using unmanned aerial vehicles (UAV s) represents a significant step forward in solar PV technology. Given the frequently remote and difficult-to-access locations, traditional inspection methods are no longer practical or suitable. Responding to these challenges, an in-novative inspection framework was developed to autonomously inspect photovoltaic plants (offshore) with a Vertical Takeoff and Landing (VTOL) UAV. This work explores two different methods of autonomous aerial inspection, each adapted to specific scenarios, thus increasing the adaptability of the inspection process. During the flight, the aerial images are evaluated in real-time for the autonomous detection of the photovoltaic modules and the detection of possible faults. This mechanism is crucial for making decisions and taking immediate corrective action. An offshore simulation environment was developed to validate the implemented system.