Please have a back up plan for true medical help if necessary. Most births can go off without a hitch but it is safe to say a lot of women have unexpected emergencies or things aren't as they planned for.
I had preeclampsia very late in my pregnancy and had to be induced on the first child, went in for my 36 1/2 week appt and was rushed to the hospital. Never planned on that. I had to have pitocin and then magnesium to prevent seizures and she had to be delivered at 37 weeks. She was healthy and fine but I totally trusted the hospital staff.
With my second, he was huge and we scheduled induction because he was going to be too big to let the 40 weeks go by. I ended up having an emergency csection as his heart rate dropped and he was stuck crooked in the birth canal.
You can prepare all you want, but modern medicine has saved many babies when the unexpected happens.
Epidurals are wonderful, you are still there and present, no danger to the baby and will help make it a pleasant process. I labored for five hours without meds with my son and it was torture and it was not enjoyable. Once I had the epidural I was relaxed, more ready and things were much easier. He unfortunately was too big and got stuck and we had to go for a csection.
While doulas are great, have a good back up plan with real Drs as you just don't know what to expect!!!
Hospitals and maternity wards very much know what they are doing, make it a pleasant experience all around and help you transition well to motherhood. La Leche league reps are at the hospital to help you, the baby gets a full over checkup upon birth, that in itself is priceless. I hope you will understand that your plan may be great and work, but don't count on it 100% or be too concerned about hospitals and avoiding them.
Good luck, God Bless and keep us posted.