Deviation of forestry equipment from the designated route leads to environmental, legal, and economic issues, such as soil damage, tree destruction, and fines. Autonomous route correction systems are essential to address these problems. The aim of this study is to develop a system for deviation detection and trajectory calculation to return to the designated route. The system determines the current position of the equipment using global positioning sensors and an inertial measurement unit. The Kalman filter ensures positioning accuracy, while the A* algorithm and trajectory smoothing methods are used to compute efficient routes considering obstacles and turning radii. The proposed solution effectively detects deviations and calculates a trajectory for returning to the route.

Keywords: deviation detection, route correction, mobile application, Kalman filter, logging operations