Major portion of the current civil engineering work depends on heavy construction equipment. However, there are many points which must be improved from standpoint of construction efficiency and safety. The task of making improvements was undertaken by introducing automation technique with the object of meeting a decrease in heavy equipment operators and securing safety in construction work. This paper deals with automated control system for a heavy compacting machine used for compaction of fills in highway and fill dam construction. The machine is provided with various types of sensors in order to grasp every condition. The proposed system is composed of self locating drive control and safety devices. Self locating device is composed of direction measuring device based on earth magnetism and speed distance meter. The proposed system can be applied to various types of heavy construction equipment in use today and makes unmanned heavy construction equipment realizable.