System and method for autonomous navigation of a field robot

A system for autonomous navigation of a field robot (FR), the system comprising:

• a memory;
• and
• a processor coupled to the memory, wherein the processor is configured to execute program instructions stored in the memory for:
• receiving a current location of the FR, a target location, and a sequence of checkpoints within a field, wherein a checkpoint from the sequence of checkpoints indicates an intermediate location between the current location and the target location on the field, wherein the sequence of checkpoints indicate field locations to be worked on by the FR by performing one or more agricultural tasks, and wherein the FR sequentially covers each checkpoint before reaching the target location;
• determining a direction of navigation for the FR based on the current location, the target location, and the sequence of checkpoints;
• obtaining a set of images of a plurality of parts of the field in real-time from one or more cameras installed on the FR during navigation of the FR in the determined direction;
• determining coefficients of traversal of the plurality of parts of the field in each image of the set of images using and a Kinodynamic Motion Planning Model (KMPM), wherein the coefficients of traversal are determined based on a predicted future motility of the FR predicted using the KMPM and one or more obstacles detected in each image of the set of image, and wherein the obstacle detection model is trained based on a data set comprising a set of images with labeled obstacles;
• and
• identifying a traversable route for the FR based on the coefficients of traversal of the plurality of parts, the target location, and the sequence of checkpoints using a route identification model.