This thesis addresses the inherent limitation of traditional center pivot irrigation systems in effectively irrigating square or rectangular field corners due to their circular watering pattern. By proposing an enhanced swing arm system integrated with Real-Time Kinematic (RTK) GPS guidance and a U-channel synchronization mechanism, the study aims to maximize land coverage, improve water efficiency, and ensure precise irrigation in irregularly shaped fields. The swing arm extends beyond the main pivot’s circular path, utilizing RTK GPS for centimeter-level positioning accuracy to dynamically adjust its movement along field boundaries. A U-channel mechanical coupling simplifies synchronization between the swing arm and the main pivot, reducing reliance on complex computational systems while ensuring robust operation in agricultural environments.