A boundary definer defines an outer boundary of a region as a series of interconnected generally linear segments joined at one or more nodes. A concave surface identifier or data processor identifies each concave surface associated with a corresponding concave node. At least one subdivision line is established to divide the region into subdivided areas, where the subdivision line interconnects at or near two nonadjacent ones of the concave nodes. The data processor or row orientation module determines a direction of orientation of rows for a planned path of the vehicle within each subdivided area. A path planning module or data processor interconnects the planned paths within or between subdivided areas to each other by planned interconnection paths between termination points of the rows or at the nodes.