According to the Unit Nations UN, the current world population is 7.2 billion and it will reach 8 billion in the next ten years. In 28 years, there will be 9 billion people.  Therefore, increasing food production in a sustainable way is mandatory. Nowadays Brazil is one of the big food pantry into the world That is why it is important to take up the challenge of using new technologies to improve agricultural production.

This article presents the use of images to mission planning, applied to an agricultural robotic platform. the work includes the robot kinematics model and  a vision algorithm using a single camera. The kinematic and vision algorithms were integrated to generate a 3D simulation environment using real images of Maringa Farm (CITROSUCO® courtesy) modelled and simulated in Solid Works®.