A method for creating a curved swath path (102 S=2) from a baseline swath path (102 S=1) for use in an agricultural vehicle guidance system comprising the following steps: providing a vehicle with an associated implement; providing a vehicle guidance system comprising a vehicle position receiver and a vehicle directional controller; providing a swath generation apparatus -SGA- having a processing capability and an SGA memory device, the SGA being communicatively coupled to the guidance system; communicating a swath width to the SGA; and communicating a baseline swath path (102 S=1) to the SGA, the baseline swath path having a plurality of position data points, comprising at least three spaced apart position data points defining a first curvature and a baseline length; creating by the processing capability of the SGA at least one adjacent swath path (102 S=2) generally parallel to the baseline swath path (102 S=1) and spaced apart from the baseline swath path by the swath width, the at least one adjacent swath path having a second curvature slightly differing from the first curvature; creating within the SGA by an iterative process, a plurality of generated adjacent swath paths (102s=i), each generated adjacent path of the plurality being created from the swath path immediately adjacent commencing with the baseline swath path (102 S=1), each subsequently created swath path having a curvature, and each subsequently created path curvature differing from the curvature of the swath path used to create the subsequent swath path; selecting within the SGA a limited number of swath paths from the plurality of adjacent swath paths; and storing the limited number of swath paths in the SGA memory, characterised in that said method comprises the further step of: positioning the vehicle at one end of a first swath path (102 S=V1); limiting the number of swath paths stored in the memory to include within the SGA memory a range of swath paths (102 S=V1-r -102 S=V1+r) proximate to the vehicle position; and retaining within the SGA memory a limited number of swath paths (102s=i(m)) outside of said range of swath paths (102 S=V1-r -102 S=V1+r), including the baseline swath path (102 S=1), whereby the total number of swath paths stored in the SGA memory is less than a predetermined value (S=n). providing a vehicle with an associated implement; providing a vehicle guidance system comprising a vehicle position receiver and a vehicle directional controller; providing a swath generation apparatus -SGA- having a processing capability and an SGA memory device, the SGA being communicatively coupled to the guidance system; communicating a swath width to the SGA; and communicating a baseline swath path (102 S=1) to the SGA, the baseline swath path having a plurality of position data points, comprising at least three spaced apart position data points defining a first curvature and a baseline length; creating by the processing capability of the SGA at least one adjacent swath path (102 S=2) generally parallel to the baseline swath path (102 S=1) and spaced apart from the baseline swath path by the swath width, the at least one adjacent swath path having a second curvature slightly differing from the first curvature; creating within the SGA by an iterative process, a plurality of generated adjacent swath paths (102s=i), each generated adjacent path of the plurality being created from the swath path immediately adjacent commencing with the baseline swath path (102 S=1), each subsequently created swath path having a curvature, and each subsequently created path curvature differing from the curvature of the swath path used to create the subsequent swath path; selecting within the SGA a limited number of swath paths from the plurality of adjacent swath paths; and storing the limited number of swath paths in the SGA memory, characterised in that said method comprises the further step of: positioning the vehicle at one end of a first swath path (102 S=V1); limiting the number of swath paths stored in the memory to include within the SGA memory a range of swath paths (102 S=V1-r -102 S=V1+r) proximate to the vehicle position; and retaining within the SGA memory a limited number of swath paths (102s=i(m)) outside of said range of swath paths (102 S=V1-r -102 S=V1+r), including the baseline swath path (102 S=1), whereby the total number of swath paths stored in the SGA memory is less than a predetermined value (S=n). positioning the vehicle at one end of a first swath path (102 S=V1); limiting the number of swath paths stored in the memory to include within the SGA memory a range of swath paths (102 S=V1-r -102 S=V1+r) proximate to the vehicle position; and retaining within the SGA memory a limited number of swath paths (102s=i(m)) outside of said range of swath paths (102 S=V1-r -102 S=V1+r), including the baseline swath path (102 S=1), whereby the total number of swath paths stored in the SGA memory is less than a predetermined value (S=n).