Fuente: Wipo "precision farming" The present invention relates to a control system (18) for a working machine (10), wherein the working machine is configured to be fitted with a front implement (24) and/or a rear implement (26). The control system is configured to: obtain or determine a guidance path (28), wherein the guidance path defines a path to be tracked by the machine (10). Based on implement information, the control system is configured to obtain or determine an acquisition path (30) that is derived an implement acquisition path (29a, 29b). The vehicle is controlled to move along said acquisition path in accordance with the implement information, in order to position the machine to track the guidance path.