The increasing global demand for food, coupled with factors such as the shrinking agricultural workforce and the need for environmentally friendly practices has led to the emergence of Agriculture 4.0. In this context, Unmanned Ground Vehicles (UGVs) have become integral to smart farming, offering efficient and environmentally sustainable solutions compared to traditional machinery. To ensure the smooth and effective movement of UGVs, extensive research has been conducted on path planning algorithms. This thesis focuses on the development and implementation of a novel path planning algorithm specifically designed for point-to-point UGVs. This class of application is the most used in Precision Agriculture (PA).