I'm working on automated ground compaction detection and fertilization machine in the agricultural field (particularly peanut cultivation). I want the machine to sense the boundary (end walls of the farmland) of the agricultural field (which is about 6-8 inches) collinearly nearly same height. The sensing should distinguish the alternate heights of the plants which is not collinear. The ultimate aim is that when the machine reaches the end walls (made of sand piles), it should turn to the next lane for further detection of ground compaction.