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There are a lot of algorithms on the pure pursuit model, but most of them focus on the linear path tracking. Due to the path of the transplanter including straight line and curve turning segment, it is necessary to improve the traditional pure tracking algorithm. Taking John Deere Starfire3000 receiver, GS2630 display and ATU200 as the main hardware equipments, according to the curve of a given path, a path tracking control algorithm was proposed, combining the model simulation and field test, the navigation control algorithm was verified. The specific steps of the navigation control algorithm were as follows: firstly, according to the vehicle speed and the bending degree of the road, the lookahead distance was adjusted dynamically. Secondly, on the basis of using the preview control to get the vehicle target, controller was designed based on improved pure tracking algorithm. At last, the simulation and experiment were carried out according to the path of transplanter. The results showed that the maximum error could be controlled within 0.159m when the vehicle was traveling at the speed of 1m/s and the turning radius was 0.9m.