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As other industries agricultural production is under permanent pressure to reduce costs. The economies of scale imposes the growth of farming operations and the development of larger machinery. On the other hand, both size and weight of tractors and implements are limited by the demand to transfer agricultural machinery on public roads. GPS based automated steering systems have been established in agriculture since almost a decade. The systems are designed to keep tractors and implements on defined parallel tracks. Automated steering systems can save up to 10 % of the variable costs by reducing overlaps and gaps during all farming operations. AGCO Germany, the Technical University of Karlsruhe and geo-konzept GmbH have started a joint research project in order develop an electronic tow bar (EDA = Elektronische Deichsel für Arbeitsmaschinen). The electronic tow bar is based on existing automated steering systems. It aims at navigating an unmanned tractor on a path predefined by the track of a manned tractor. Only one driver operating the team of tractors establishes a situation where two standard tractors are handled as a single machine in the field. Transferring machinery from farm to field requires two drivers, but the dimensions still allow for legal operation on public roads. The project focuses on developing technology for data transfer between the tractors, a security monitoring system as well as algorithms for path planning and steering. This article outlines the path planning algorithms required for parallel swathing, obstacle avoidance and turning on headlands.