A method of enhancing the soil structure of land having a topsoil layer and a subsoil layer beneath the topsoil layer includes providing at least one subsoil tiller blade having a tilling surface and a bottom end, and a channel positioned behind the tilling surface of the subsoil tiller blade for injecting nutrients toward the bottom end of the subsoil tiller blade. The subsoil tiller blade is inserted into the land such that the bottom end extends into the subsoil layer. The subsoil tiller blade is driven through the land such that the tilling surface loosens the subsoil layer while the channel deposits nutrients into the subsoil layer.

An autonomous farm vehicle is provided. In a preferred embodiment the vehicle is a plow, which is capable of driving itself without input from an operator. The plow is significantly lighter in weight and smaller in size then a combined tractor and plow, and can be operated continuously. The vehicle, includes a chassis mounted on a plurality of wheels and a tool in the form of a plowing assembly mounted to the chassis and displaceable about the chassis between a first and a second position, such that in the first position the plowing assembly is operational while the vehicle is driven in a first direction. In the second position the plowing assembly is operational while the vehicle is driven in a second direction substantially opposite to the first direction.

An autonomous farm vehicle is provided. In a preferred embodiment the vehicle is a plow, which is capable of driving itself without input from an operator. The plow is significantly lighter in weight and smaller in size then a combined tractor and plow, and can be operated continuously. The vehicle, includes a chassis mounted on a plurality of wheels and a tool in the form of a plowing assembly mounted to the chassis and displaceable about the chassis between a first and a second position, such that in the first position the plowing assembly is operational while the vehicle is driven in a first direction. In the second position the plowing assembly is operational while the vehicle is driven in a second direction substantially opposite to the first direction.