Energy consumption data for package delivery with an Uncrewed Ground Vehicle
datasetposted on 23.04.2021, 15:41 by Arnav Choudhry, Sophia Lau, Jay Patrikar, Brady Moon, Thiago A. Rodrigues, Aradhana Gahlaut, Jacob Feldgoise, Bastian Wagner, H Scott Matthews, Sebastian Scherer, Constantine Samaras
The purpose of this experiment was to empirically measure the energy use of uncrewed ground vehicles (UGVs) carrying a range of payloads on different routes, terrains, temperatures and speeds. We manually operated a modified Husky A200 robot platform (Husky) on four different routes, which differ both in total distance and vertical gradient. We simultaneously collected data from a broad range of sensors on the Husky.
The onboard sensors used to collect data on the Husky are:
* Position: 3DM-GX5-45 GNSS/INS sensor pack. These sensors use a built-in Kalman filtering system to fuse the GPS and IMU data. The sensor has a maximum output rate of 10Hz.
* Current and Voltage: Mauch Electronics PL-200 sensor. This sensor can record currents up to 200 A and voltages up to 33 V. Analogue readings from the sensor were converted into a digital format using an 8 channel 17 bit analogue-to-digital converter (ADC).
* Temperature and humidity: Bosch BME280 sensor. The sensor measures relative humidity with ±3% accuracy, and temperature with ± 1.0°C accuracy. The ideal operating range for this sensor is 0°C to 65°C.
An on-board computer was used to operate the Husky and post-process the data. The on-board computer was an Intel NUC Kit NUC8i7BEH with a 512 GB solid state drive (SSD) and 8 GB of memory. This computer ran the Melodic distribution of the Robotic Operating System (ROS), on top of Ubuntu 18.04 LTS operating system. Data syncing and recording was enabled through ROS running on a low-power Raspberry Pi Zero W. The Raspberry Pi's microSD card served as the data store. The data streams from each sensor were synchronized to a frequency of approximately 10Hz using the ApproximateTime message filter policy of Robot Operating System (ROS).
There are a total of 92 trials across varying routes, payloads and speeds. The concatenated dataset has 386,369 rows of data and 27 columns.