System and method for controlling soil compaction

Methods and system for minimizing soil compaction relating to operations performed by 5 agricultural machines. The agricultural machines can be guided so that at least one engagement body travels along an existing track path that was established by a prior travel of the same or different agricultural machine. Further, travel plans can determine the sequence in which the agricultural machine(s) travel in areas in the field so that travel on the track path(s) can be initiated in drier regions in the field. Operation of agricultural machines can also be adjusted to minimize 10 deviations of other agricultural machines from existing track paths. For example, a windrower can operate a diverter to deposit a windrow at an offset location, and with a non-linear pattern, that may limit a baler from deviating from an existing track path while collecting crop material from the windrow, while also assisting in forming uniformly shaped crop bales. /1; - 7 Km ~tt. ,~-~-' S 7k Fo NS --- ~ EAt I~ _ -~ IL ~NI i-f -Sm 'I i~ ~ N -,- - - CI -~ N Wv