The present invention relates to a support system for determining a trajectory to be followed by an agricultural work vehicle, when working a field, said system comprises: a mapping unit configured for receiving: i) coordinates relating to the boundaries of a field to be worked; and ii) coordinates relating to the boundaries of one or more obstacles to be avoided by said work vehicle; wherein said one or more obstacles being located within said field; a capacity parameter unit configured for receiving one or more capacity parameters relating to said working vehicle; a trajectory calculating unit configured for calculating an optimized trajectory to be followed by said work vehicle; wherein said optimized trajectory is being calculated on the basis of said coordinates received by said mapping unit; and one or more of said one or more capacity parameters received by said capacity parameter unit.
