Drive-by-wire automation and field validation of a commercial electric vehicle for autonomous crop monitoring

Abstract

• A commercial electric vehicle was automated for autonomous crop inspection in vineyards • Modular drive-by-wire control was implemented for throttle, brake, and steering • Fuzzy logic controllers were designed for smooth steering and speed regulation • A ROS-based navigation system enabled reliable path planning in crop fields • Field validation confirmed robust autonomy in real agricultural environments Effective crop monitoring is vital for optimizing agricultural production, improving crop quality, and reducing operational costs. Ground-based robotic platforms have emerged as precise alternatives to manual inspections, enabling detailed and organized data collection. However, many small and medium-sized agricultural robots are limited in terms of autonomy and reliability. This paper presents the full automation of a low-cost commercial electric vehicle, the Renault Twizy, for use as an autonomous inspection platform in agricultural environments. The system integrates fuzzy logic controllers and a modular CAN-based control architecture to automate the steering, throttle, and braking subsystems. Autonomous navigation capabilities are achieved by integrating the ROS Navigation Stack. Field experiments conducted in vineyard environments validated the system’s ability to navigate autonomously at low speeds, maintain stable trajectories, and perform inter-row manoeuvres without human intervention. The results demonstrate the feasibility and scalability of repurposing urban electric vehicles for agricultural robotics, offering enhanced robustness, extended operational autonomy, and reduced development costs compared with those of conventional robotic platforms.