To reduce the navigation path tracking steering control frequency of crawler-type combine harvester and improve the stability of the control system, an aiming-tangent local tracking path dynamic planning algorithm was proposed. The planned local tracking path consisted of two smoothly connected arcs, the first arc defining the aiming point on the line of 1/2 lateral deviation from the current position of the harvester, and the second arc defining the geometry of the desired path from the actual positioning of the harvester on the line of 1/2 lateral deviation. An adapted steering control model was established based on the actual steering motion characteristics of the harvester, with R2 of 0.978 and 0.980 fitted to the left-turn and right-turn control models, respectively. The straight-line navigation tracking comparison test in the field showed that the standard deviation of lateral deviation was 0.0489m and 0.0507m, the standard deviation of heading deviation was 3.94°and 4.66°, and the number of steering control was 19 and 12 when the vehicle speed was 0.4m/s and 0.8m/s, correspondingly. Compared with the conventional aiming pursuit algorithm, the standard deviation of lateral deviation was reduced by 19.04% and 31.30%, the standard deviation of heading deviation was reduced by 25.94% and 9.16%, and the number of steering control was reduced by 47.22% and 42.86%, respectively. The results can provide a reference for crawler-type agricultural vehicles navigation controllers.