Precision Agriculture and agricultural practices that take into account environment protection, leads to several research challenges. Sampling scale and the precision required by these new agricultural practices are often greater than those required by traditional agriculture, raising the costs of production. This whole process requests an expressive number of researches in developing automation instruments. Amongst them, the use of remote sensing techniques based on On-the-Go sensors technology stands out, coupled to a Geographic Information System (GIS) adapted and developed for agricultural use. Therefore, the application of Agricultural Mobile Robots is a strong tendency, mainly in the European Union, USA and Japan. In Brazil, researches are necessary for the development of robotics platforms, serving as a basis for semi-autonomous and autonomous navigation systems, facilitating data acquisition in the field. The greatest difference in the agricultural practices between Brazil and other countries is that, at other countries the skilled labor is not a problem and often farm owner or family members perform field operations. Consequently, tasks automation can provide more comfort and reduce working days. Moreover, as it is considered a strategic sector, governments provide subsidies to producers in order to ensure at least part of internal consumption. The access to technology is also a differential characteristic, due to its high price or even unavailability in Brazil. Thereby, in Brazil, autonomous systems are supposed to meet the needs of the scarceness of qualified professionals, in face of the rising demands; in addition to serve as a laboratory for the development of national technology. The aim of this work is to describe the project of a mobile robotic platform designed to be used for the development of control systems, navigation and data acquisition technologies for agriculture. The main application of the platform is to perform remote sensing of agronomic parameters in large areas, at the most important Brazilian crops. The platform does not require actions with high power, as in traditional agricultural operations, but has to move efficiently in this environment. The platform should enable the massive data acquisition required to study the spatial variability, through sensors and equipment that will be embedded in the platform. The proposal is based on a systematization of scientific work containing the main methodologies and technologies employed in agricultural vehicles and robots, which were used as a basis for constructing the presented model. Furthermore, a preliminary study of working conditions and the desired characteristics of the project were performed. The design of the mobile robotic platform has been developed entirely in a virtual environment by 3D CAD software. This allows checking for interference between components during operation and, if necessary, changes in the design could be done. Moreover, data from the computer model are used to create the kinematic and dynamic models. It was established that the structure would be rectangular in gantry shape, with 1.80 m between the ground and the base of the chassis. The propulsion and the steering system are 4WD and 4WS, respectively, with each wheel fully independent from each other. A turbo diesel engine was used as main power source and hydraulic systems with proportional valves were used for power transmission. The actuators control is performed by dedicated controllers that receive the control parameters by network, and perform the control of the actuators in a closed loop control system. The data transmission between controllers and an embedded computer, which contains other sub-routines (localization, navigation, data collection), is carried out by a CAN fieldbus. Finally, a wireless network with Ethernet standard is responsible for the communication between the mobile robot platform and the control station.