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The research objective was to develop an automatic guidance system in a real-time coconut field application using a laser scanner. Seven methods were used in this research, data and information gathering, tree row recognition using Hough transform, masking method to get the ROI (region-of-interest), simulated coconut environment, SMA (simple moving average), steering control algorithm, and experimental test runs. This research dealt with the recognition of tree rows as a straight line, to be followed by the robot tractor in real-time coconut field straight path navigation.