Flight Path Generation for Drone-Based Methane Detection

This Python software library generates a flight path for the automated detection of methane leaks on a wellpad. For a more detailed description of the algorithm, please refer to the project description.

Before Flight

• Before Flight Example: sample path generation
• Distribution Set Up: sample probability distribution setup and graph
• Probability Distribution Generation: generates probability distribution specifying regions where methane leaks are likely
• Initial Waypoint Assignment: utilizes this probability distribution to create drone waypoints
• Path Generation: generates optimal path through waypoints
• Traveling Salesman Problem Solver: orders waypoints for shortest flight path

During Flight

• During Flight Controller: intakes data during flight, computes the confusion matrix, and triggers the generation of flux planes
• Confusion Matrix Calculation: computes the confusion matrix
• Flux Plane Generation: generates a flux plane

Other Files

• Methane Flow Model: flow model specified by EPA model and Hogkinson et al.
• Flight Data: imports flight data from .kml and .csv files