Precision Agriculture (PA) concept has been gaining popularity in the last few years, and it is seen as a possible solution to meet the needs of the growing world population. New techniques and approaches are being developed; these innovations are meant to increase productivity and maximize profit while being a foundation of sustainable agriculture. Autonomous robots have a crucial role in this application. In particular, this work is intended to investigate the problem of Autonomous Navigation to provide a solution of seamless Indoor and Outdoor Navigation. An example of employment could be the forage distribution in large farm stables, where the recharge point is usually outside the building.