La agricultura es la principal actividad econ?mica del departamento del Tolima y con el uso de tecnolog?as es posible aumentar la productividad, disminuir costos y mejorar la competitividad de este sector, por lo tanto en este trabajo de grado se desarrolla un sistema de navegaci?n aut?noma para un veh?culo terrestre de tipo Skid-Steering para emplearlo en aplicaciones de agricultura, con el objetivo de tener una herramienta tecnol?gica con la capacidad de hacer un seguimiento de trayectorias espec?ficas y as? poder automatizar tareas como arar, plantar semillas, abonar, tomar muestras localizadas entre otros. El sistema implementa un filtro de Kalman extendido que integra sensores para tener una geolocalizaci?n confiable, se dise?? un control de seguimiento de trayectoria con base en el modelo din?mico obtenido con la identificaci?n de sistemas lineales y se realiza el monitoreo del sistema con base en telemetr?a. Presentado resultados satisfactorios con errores menores a un metro.Agriculture is the main economic activity of the department of Tolima and with the use of technologies it is possible to increase productivity, reduce costs and improve the competitiveness of this sector, therefore in this degree work an autonomous navigation system is developed for a land vehicle type Skid-Steering for use in agricultural applications, with the aim of having a technological tool with the ability to track specific trajectories and thus be able to automate tasks such as plowing, planting seeds, fertilize, taking samples located among others . The system implements an extended Kalman filter that integrates sensors to have a reliable geolocation, a trajectory tracking control was designed based on the dynamic model obtained with the identification of linear systems and system monitoring is performed based on telemetry. Presented satisfactory results with errors less than one meter.