A method for steering an agricultural vehicle comprising: receiving global
positioning system (GPS) data including position and velocity information
corresponding to at least one of a position, velocity, and course of the
vehicle; receiving a yaw rate signal; and computing a compensated
heading, the compensated heading comprising a blend of the yaw rate
signal with heading information based on the GPS data. For each desired
swath comprising a plurality of desired positions and desired headings,
the method also comprises: computing an actual track and a cross track
error from the desired swath based on the compensated heading and the
position; calculating a desired radius of curvature to arrive at the
desired track with a desired heading; and generating a steering command
based on the desired radius of curvature to a steering mechanism, the
steering mechanism configured to direct the vehicle.