Towards Robust UAV Navigation in Agriculture: Key Technologies, Application, and Future Directions.

Unmanned aerial vehicles (UAVs) are becoming an important platform for precision agriculture, supporting both high-throughput sensing and active field operations such as spraying, monitoring, and phenotyping. However, unlike general UAV applications, agricultural environments impose distinctive challenges due to heterogeneous field structures, canopy occlusion, terrain variation, dynamic disturbances, and strong coupling between navigation performance and task quality. To address this gap, this review presents a systematic analysis of UAV navigation in agricultural environments from a system-level perspective. The review first summarizes the core technical components of agricultural UAV navigation, including sensing, localization, mapping, planning, and control. It then discusses how navigation requirements vary across representative scenarios such as open fields, orchards, and terraced farmland, and examines their roles in key applications including aerial mapping, field monitoring, precision spraying, and close-range orchard operations. In addition, datasets, simulation platforms, and evaluation protocols relevant to agricultural UAV navigation are reviewed. Finally, major challenges are identified, including scene heterogeneity, perception degradation, insufficient task-semantic integration, limited control robustness, and the lack of standardized benchmarks. Future research should move toward robust, task-aware, and modular navigation architectures that support reliable and scalable agricultural UAV deployment.