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In order to improve the precision of a navigation control system for agricultural machines, the research on the path tracking method that is the core of an agricultural machine navigation system was carried out. An agricultural machine path tracking method based on fuzzy adaptive pure pursuit model was proposed. The method utilized pure pursuit method to conduct the path tracking control and determined the desired steering angle by combining with the agricultural machine kinematic model. The method made use of fuzzy adaptive control to find out the look-ahead distance online and adaptively, thus the path tracking precision gets enhanced. The results of the path tracking experiment for the agricultural machine show that the max tracking error is within 10cm and the mean error is no more than 5cm, so the proposed method can completely satisfy the operation requirement of agricultural machines and the feasibility and effectiveness of the method was verified.