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Solar-powered aircraft promise significantly increased flight endurance overconventional aircraft. While this makes them promising candidates forlarge-scale aerial inspection missions, their structural fragility necessitatesthat adverse weather is avoided using appropriate path planning methods. Thispaper therefore presents MetPASS, the Meteorology-aware Path Planning andAnalysis Software for Solar-powered UAVs. MetPASS is the first path planningframework in the literature that considers all aspects that influence thesafety or performance of solar-powered flight: It avoids environmental risks(thunderstorms, rain, wind, wind gusts and humidity) and exploits advantageousregions (high sun radiation or tailwind). It also avoids system risks such aslow battery state of charge and returns safe paths through cluttered terrain.MetPASS imports weather data from global meteorological models, propagates theaircraft state through an energetic system model, and then combines both into acost function. A combination of dynamic programming techniques and anA*-search-algorithm with a custom heuristic is leveraged to plan globallyoptimal paths in station-keeping, point-to-point or multi-goal aerialinspection missions with coverage guarantees. A full software implementationincluding a GUI is provided. The planning methods are verified using threemissions of ETH Zurich's AtlantikSolar UAV: An 81-hour continuous solar-poweredstation-keeping flight, a 4000km Atlantic crossing from Newfoundland toPortugal, and two multi-glacier aerial inspection missions above the ArcticOcean performed near Greenland in summer 2017.

Meteorology-Aware Multi-Goal Path Planning for Large-Scale Inspection Missions with Long-Endurance Solar-Powered Aircraft