The present invention relates to an autonomous tillage robot for agricultural applications such as planting and seedbed preparation. More in particular, the invention relates to means and methods for advancing and controlling a autonomous tillage robot in a desired direction of movement. According to the invention, the autonomous soil cultivating robot is characterized in that the first supporting means comprise a cylindrical roller, which roller is divided transversely to the longitudinal direction into at least a first and a second roller, which first and second roller are both independently rotatably configured around a common imaginary rotation. axis and which first and second roll are each coupled to a drive means powered by the power source for causing the first and the second roll to rotate independently about their common axis of rotation and whose common width Y of the roll parts is substantially equal at the working width X of the soil tillage means. An advantage of such an autonomous soil tillage robot is that at least a part of its own weight is supported uniformly over substantially the full working width X of the soil tillage members on the substrate or soil. The invention also relates to a method for advancing and controlling the autonomous tillage robot. To that end, the method comprises the use of a driven, split bar roller, which bar roller extends over substantially the full width of the device. Advantages of this method are the uniform loading of the soil to be worked and the contribution to the intended effect of the soil working due to the interaction between the driven roller and the soil.De onderhavige uitvinding heeft betrekking op een autonome grondbewerkingsrobot voor landbouwkundige toepassingen zoals poot- en zaaibedbereiding. Meer in het bijzonder heeft de uitvinding betrekking op middelen en werkwijzen voor het voortbewegen en in een gewenste bewegingsrichting sturen van een autonome grondbewerkingsrobot. De autonome grondbewerkingsrob
