This paper presents a method of utilizing a transition curve in planningthe movement trajectory of agricultural machinery during the headlandturns. The approach involves using the transition curve, whose curva-ture and tangent angle are described by the trigonometric function. Forthe designed course, the kinematic quantities, wheel turning angles, andtheir rates of change were determined for two models of agriculturaltractors. The algorithm proposed in this study ensures continuity andsmooth changes in the kinematic quantities and can be applied to thetrajectory planning of agricultural implements and machines, autono-mous vehicles, mobile robots, manipulators, and CNC machines