An autonomous system was developed, able to move within a culture with accurately and efficiently; being practical and economically feasible to dosing fertilizers in small crops, which make up of the most area for agricultural production in Colombia. This system use of culture limits by GPS coordinates for distribution and generation the positioning points on one hectare pilot. The GPS coordinates are saved on a file and used to generate points of path planning computer application by interpolation with cubic polynomials. Using this methodology, the crop distribution within the area is established and the automatic positioning points within the crop are determined. From these points, the paths are generated to be followed by the vehicle to travel between two points without damaging the crop; supported in a wireless communication between the computer and the vehicle. The result is based on a vehicle capable of traveling through the crop rows to dose liquid fertilizers of nitrogen, potassium and phosphorus in a controlled manner, with error less than 4% by volume; following the paths determined with an error less than 10 cm, from sensors located on board the vehicle with remote control system.