A method for automatically generating swath paths and navigating a vehicle along the generated swath paths using a controller includes the steps of: marking a plurality of field boundary points; storing the field boundary points in a memory unit of the vehicle; generating a field boundary defining the plurality of field boundary points connected to one another; selecting an edge of the field boundary as a base swath path; generating a plurality of subsequent swath paths from the base swath path; measuring a set of parameters of the vehicle; and automatically selecting one of the subsequent swath paths for the vehicle to follow based on the set of parameters.