Autonomous vehicles have started revolutionizing the automotive industry about a decade ago, and are now starting to revolutionize the construction and agricultural fields. Construction and agriculture presents different challenges with respect to the automotive counterpart, some of them given by the environment, others given by the nature of the vehicle at study. The aim of this thesis is to analyze the sensors and the sequence of algorithms that are needed for AV applications, and apply them to the vehicle at study, the Merlo telescopic handler, in order to understand and highlight the challenges posed by this kind of vehicle in an agricultural environment.