Wind optimised trajectory generator for automated wind turbine inspector drones
L. Gooijaers (TU Delft - Aerospace Engineering)
Coen C. de Visser – Mentor (TU Delft - Control & Simulation)
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Abstract
To be able to increase the safety and efficiency of automated wind turbine inspection a robust solution is needed that takes into account wind during trajectory planning. This paper presents such a solution in the form of an algorithm, which uses Dijkstra’s algorithm as a basis for optimisation. To allow for online replanning the horizontal and vertical trajectory planning are separated, creating a computationally cheap problem. The solution is based on
an in advance known static environment, hence no time and resources are spend before the inspection. Three experiments show that the presented algorithm is safe and is able to take into account wind during emergency procedures. In addition it is shown that it is able to safely replan when the wind changes during an emergency. These results show that the proposed algorithm can serve as a viable basis for a safe and efficient solution for automated wind turbine
inspection.