気象を考慮した太陽動力UAVの大規模点検ミッション向けマルチゴール経路計画

原文アブストラクト

Solar-powered aircraft promise significantly increased flight endurance over conventional aircraft. While this makes them promising candidates for large-scale aerial inspection missions, their structural fragility necessitates that adverse weather is avoided using appropriate path planning methods. This paper therefore presents MetPASS, the Meteorology-aware Path Planning and Analysis Software for Solar-powered UAVs. MetPASS is the first path planning framework in the literature that considers all aspects that influence the safety or performance of solar-powered flight: It avoids environmental risks (thunderstorms, rain, wind, wind gusts and humidity) and exploits advantageous regions (high sun radiation or tailwind). It also avoids system risks such as low battery state of charge and returns safe paths through cluttered terrain. MetPASS imports weather data from global meteorological models, propagates the aircraft state through an energetic system model, and then combines both into a cost function. A combination of dynamic programming techniques and an A*-search-algorithm with a custom heuristic is leveraged to plan globally optimal paths in station-keeping, point-to-point or multi-goal aerial inspection missions with coverage guarantees. A full software implementation including a GUI is provided. The planning methods are verified using three missions of ETH Zurich's AtlantikSolar UAV: An 81-hour continuous solar-powered station-keeping flight, a 4000km Atlantic crossing from Newfoundland to Portugal, and two multi-glacier aerial inspection missions above the Arctic Ocean performed near Greenland in summer 2017.