Coupling including, as operational constituent components, a tractor and at least one towed or semi-mounted agricultural machine (3, 3', 3"), directly coupled to said tractor or to a preceding machine (3, 3') in the coupling by at least one articulated linkage (4, 4', 4"), said coupling also including a system for the management and guiding of manoeuvres, particularly U-turns, comprising at least one calculating and control unit (5, 5') which is integrated in the or in one of the coupled machines (3, 3', 3") and which is connected, firstly, to at least one sensor (6, 6', 6") informing it about the current mutual relative positions of the two components (2, 3; 3, 3'; 3', 3") of each pair of operational components (2, 3, 3', 3") of the coupling connected to each other by an articulated linkage (4, 4', 4"), secondly, to a unit for the management and control of the tractor and/or to an interface for communication, particularly for display and possibly control, with the driver and, lastly, to at least one configuration or programming means, these additional functional components, composed of said at least one sensor (6, 6', 6"), said unit and/or interface and said configuration or programming means and to which the aforementioned calculating and control unit (5, 5') is connected, also forming part of the system for the management and guiding of manoeuvres, the coupling characterised in that the unit (5, 5') for calculation and control of the or of one of the coupled agricultural machines (3', 3") constitutes the master unit of the system for the management and guiding of manoeuvres and preferably of the coupling, and in that the calculating and control unit (5, 5') comprises means which, in cooperation with the aforementioned additional functional components (6, 6', 6", 7, 8, 9), under the control of an adapted manoeuvre management program, are adapted for: on the one hand, calculating a set path for at least one future manoeuvre, initiated automatically or by the driver, this being on the basis of preprogrammed parameters relating to the characteristics and physical quantities of the tractor and of the coupled machine or machines (3, 3', 3"), to objectives and/or constraints connected with the agricultural work to be carried out, and to the terrain to be treated and to choices of operation of the coupling and using an algorithm for predicting paths and an algorithm for optimising path instructions and, on the other hand, automatically executing said manoeuvre or assisting semi-automatic execution of said manoeuvre, this being possibly in a repeated manner, by steering the tractor, directly or by means of the unit for the management and control of the latter, and by picking up, during a manoeuvre, the differences between the predefined set path and the actual or currently estimated path, in order to correct them automatically or to indicate them to the driver in the semi-automatic mode, possibly after calculating the path correction manoeuvres to be made using an adapted algorithm. on the one hand, calculating a set path for at least one future manoeuvre, initiated automatically or by the driver, this being on the basis of preprogrammed parameters relating to the characteristics and physical quantities of the tractor and of the coupled machine or machines (3, 3', 3"), to objectives and/or constraints connected with the agricultural work to be carried out, and to the terrain to be treated and to choices of operation of the coupling and using an algorithm for predicting paths and an algorithm for optimising path instructions and, on the other hand, automatically executing said manoeuvre or assisting semi-automatic execution of said manoeuvre, this being possibly in a repeated manner, by steering the tractor, directly or by means of the unit for the management and control of the latter, and by picking up, during a manoeuvre, the differences between the predefined set path and the actual or currently estimated path, in order to correct them automatically or to indicate them to the driver in the semi-automatic mode, possibly after calculating the path correction manoeuvres to be made using an adapted algorithm.