According to the output above and my test (using 16.04.5) the issue seems to be 
very likely with the URL that points to the preseed file and is part of the 
kernel parameters:
url=http://^Gfd00:10:100::86:49^G/ubuntu/mroesch/zesty.preseed

(Btw. you can take the short form "url=" instead of "preseed/url=" is
enough.)

I strongly suggest to do the following:
- modify the preseed file so that it will no longer be able to do an entire 
non-interactive installation, e.g. remove the disk config in the pressed.cfg 
(something like that is needed to be able to debug a pressed installation), but 
it breaks for you anyway and should land in d-i afterwards, right?
- then either go back to the main d-i menu (with "<") or open another d-i ssh 
session
  and start a d-i shell (Execute a shell)
- verify there how the kernel parameters look like:
  cat /proc/cmdline
  The url parameter probably looks like:
  url=http://^Gfd00:10:100::86:49^G/ubuntu/mroesch/zesty.preseed
  or
  url=ftp:// 2001:67c:1562:8020:0:ff:ff50:f170 /preseed.cfg
  or
  url=ftp://¬2001:67c:1562:8020:0:ff:ff50:f170|/preseed.cfg
- If this is the case (what I strongly assume) then there is an issue with the 
character encoding;
  the url parameter needs to look like this (btw. I use ftp and you have http):
  url=ftp://[2001:67c:1562:8020:0:ff:ff50:f170]/preseed.cfg
  Means a proper and full ipv6 address specified in rectangular brackets "[" 
and "]".
  If you cannot see "[" and "]" here and maybe other characters instead,
  go back to the config file and fix it.

If using 3270 terminal emulators like x3270 with a character set different than 
"U. S. English (CP 037)" (like I do use with "German CP 273) there might be a 
problem with the mapping of certain characters, incl. "[" and "]".
So if your parmfile is on a zVM CMS disk and you use x3270 to edit it, just 
switch temporarily your character set to "U. S. English (CP 037)", type these 
two characters for surrounding the ipv6 address and switch back to your local 
character set afterwards (doing so you may even see these characters flip to 
some others on the fly).

That should help making sure that the right characters in the correct
encoding reach the kernel.

With a proper ipv6 (RA) environment in place d-i should then be able to 
download the preseed file.
It worked in my tests environment (using ftp and http).

One may also try to download the preseed file manually (as a test) from within 
an d-i shell and then copy and paste the url from the /proc/cmdline output:
# cat /proc/cmdline 
ro locale=en_US auto=true priority=critical                                     
ftp://[2001:67c:1562:8020:0:ff:ff50:f170]/preseed.cfg
...
# wget ftp://[2001:67c:1562:8020:0:ff:ff50:f170]/preseed.cfg
--2018-08-02 10:51:09--  ftp://[2001:67c:1562:8020:0:ff:ff50:f170]/preseed.cfg
           => 'preseed.cfg'
Connecting to [2001:67c:1562:8020:0:ff:ff50:f170]:21... connected.
Logging in as anonymous ... Logged in!
==> SYST ... done.    ==> PWD ... done.
==> TYPE I ... done.  ==> CWD not needed.
==> SIZE preseed.cfg ... 4829
==> EPSV ... done.    ==> RETR preseed.cfg ... done.
Length: 4829 (4.7K) (unauthoritative)

preseed.cfg 100%[===================>]   4.72K  --.-KB/s    in 0s

2018-08-02 10:51:09 (895 MB/s) - 'preseed.cfg' saved [4829]

Since I believe that this is a character encoding problem, I change this
ticket to invalid for now.

** Changed in: preseed (Ubuntu)
       Status: Confirmed => Invalid

** Changed in: ubuntu-z-systems
       Status: Confirmed => Invalid

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https://bugs.launchpad.net/bugs/1679652

Title:
  Using an ipv6 address as preseed file location results in an installer
  error

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