A guidance system may derive a K-turn path when a vehicle reaches an end of afirst wayline in a field. The guidance system may send the K-turn path to a steeringcontroller toturn the vehicle around in a headland area to the beginning of a second way-line in thefield. A first segment of the K-turn path may turn the vehicle along a firstpath in aforward direction and a second segment of the K-turn path may turn the vehiclealong asecond path in a reverse direction. A third segment of the K-turn path mayturn thevehicle along a third path in the forward direction to a starting location ofthe secondway-line. The K-turn path uses less area than other types of turns reducingthe amount ofheadland used for turning around the vehicle.
