An agricultural planting system comprises an implement configured to be coupled to a work machine, row units of the implement, and first and second pairs of wheels configured to pivot and rotate to facilitate a turning operation during forward travel of the planting system. The row units are arranged in first and second ranks depending on their forward-aft placement. Furrow openers of the first rank of row units are configured to contact the ground along a first contact line, and furrow openers of the second rank of row units are configured to contact the ground along a second contact line. During a turning operation, the implement turns about a turning center axis, and the first and second pairs of wheels pivot in opposite directions, which allows the first and second contact lines to remain equidistant from the turning center axis during the turn.

A steering assist system operably engaged with an articulating tractor at a pivot point. The steering assist system includes a controller, a sensor unit operably engaged at the pivot point of an articulating chassis of the articulating tractor, a steering actuator operably engaged with a front articulating frame of the articulating chassis and a rear articulating frame of the articulating chassis to pivot the articulating chassis at the pivot point based on at least one output from the controller, and a steering unit operable with the controller to input one or more steering commands to steer the articulating tractor. The sensor unit of the steering assist system is configured to measure rotation of the articulating chassis about a vertical axis of the articulating tractor at the pivot point.

An agricultural machine includes a harvesting component, a differential axle assembly, a steering mechanism, first and second drive wheels, a steering motor coupled to the differential axle assembly and a control system. The control system includes a status sensor, a GPS sensor, and a plurality of input sensors. The controller is configured to determine when the agricultural machine is operating in a crawl condition, and based on the determination, operate the agricultural machine in a crawl mode corresponding to the crawl condition. The crawl mode includes actuating the steering motor to increase torque applied to one of the first and second drive wheels until the agricultural machine is no longer operating in the crawl condition.