Abstract: According to the features of headland turning，agricultural machine headland turning control algorithm is presented.Applying simplified bicycle kinematics model，the path planning is produced by assembling three straight lines；using the dynamical look-ahead distance which is implemented by the BP neural network，an improved pure pursuit algorithm is applied in the headland turning.MATLAB/Simulink simulation results show that headland path planning algorithm and headland turning algorithm presented are simple，occupy small headland space and have a high tracking accuracy.The control method is feasible and practical.