A series of algorithms was implemented to plan optimal routes and generate smooth trajectories, for optimal and safe navigation of an agricultural robot. For the generation of optimal routes, the algorithm called A* was implemented, while for the smoothing of the trajectory the algorithm called Bezier curves was utilized. The system is capable of generating smooth trajectories with a resolution of up to one centimeter, in less than a second, performing by teleoperation the monitoring and remote control of the robot with frequencies of 2 Hz, which makes it suitable for robots in agricultural tasks. The developed software permits demarcating, from an aerial image, the crop rows or other obstacles present, and once the optimal route is generated to visualize its smoothing and geo-referencing, to provide a sequence of geographic coordinates, through which the robot must navigate.