The aim of this thesis is to design, build and simulate an algorithm which provides guidance and control for autonomous UAVs in Agriculture 4.0 within the PRIN project “New technical and operative solutions for the use of drones in Agriculture 4.0”. The simulation scenario includes several targets which can represent plants, vegetables, or other vegetation where treatments deployed by the UAV is needed. The main objective of the developed algorithm is to guide the UAV, identifying and reaching all possible targets autonomously using information derived by depth cameras and other sensors. Another objective of the project is the application of the final algorithm with limited GPS or noisy signal conditions.