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In this research a system assisting the operator of an agricultural tractor in coupling a trailer was developed. The system utilized knowledge of the dimensions of the trailer, width and drawbar length, in calculating the towing eyelet location from laser range finder measurements using iterative end-point fit. The tractors speed and curvature are then automatically controlled to align the draw hook with the towing eyelet. Curvature is controlled using pure pursuit algorithm and speed withdoi:10.3182/20140824-6-za-1003.00437 fatcat:pumnt5ekk5hzbomv4xupgpauia