Agricultural machine

An agricultural machine 10 comprises a supporting frame 11 mounted on ground contacting mobility means 12 or to a traction unit, a drive means (17, figure 2) mounted to the supporting frame or to the traction unit and configured to drive the mobility means or traction unit, a row detector mounted to the mobility means or the traction unit, a processor configured to receive data from the row detector on the position of the crop rows, the processor configured to navigate the machine between the rows by activation of the drive means and at least one implement 18 configured for plant and/or soil engagement between crop rows, mounted to and extending from the supporting frame 11. The implement may be for the destruction of plants between the crop rows. The row detector may be configured to eliminate the line features generated by horizontal leaf edges and selecting forward facing leaves/line segments of crop rows and in a second step calculate the centroid of each forward facing line segment and calculate the lane centre clusters. Also disclosed is a method of operating an agricultural machine.