#$%^&*AU2016259279A120170608.pdf#####ABSTRACT A guidance system may derive a K-turn path when a vehicle reaches an end of a first way line in a field. The guidance system may send the K-turn path to a steering controller to turn the vehicle around in a headland area to the beginning of a second way-line in the field. A first segment of the K-turn path may turn the vehicle along a first path in a forward direction and a second segment of the K-turn path may turn the vehicle along a second path in a reverse direction. A third segment of the K-turn path may turn the vehicle along a third path in the forward direction to a starting location of the second way-line. The K-turn path uses less area than other types of turns reducing the amount of headland used for turning around the vehicle. 232/9 SECOND TURN K-UR 13 SEGMENT 132B 134B 134A THIRD TURN FIRST TURN SEGMENT 132C x SEGMENT 132A 16 HEADLAND 16 104 133 AB LINE (WAYLINE) AB LINE 108A 108B 114 112 I 114 FIELD 110 HEADLAND 106 BOUNDARY 102 FIGURE 2
