The literature review of methods of route planning and real-time path following is finished. The algorithm for steering control and route planning are implemented. The route planning algorithm was further tested regarding its practical usability for the combination of the New Holland master tractor and a Claas Xerion tractor. Therefore the turning radii of both tractors was measured and used.

The slave tractor to be used will be a Claas Xerion and it was transported to Wageningen. A mechanical setup for lifting the tractot form the ground was implemented for future hardware in the loop simulation.