A system for controlling a first machine performing a turn includes a controller configured to identify a desired turn for the first machine. The desired turn is formed by two adjacent traffic lanes. The two traffic lanes include a first traffic lane and a second traffic lane. The controller is further configured to receive information regarding a second machine and determine whether to control the first machine to follow a lane crossing path for performing the desired turn based on the received information. The lane crossing path includes a portion of the first traffic lane and a portion of the second traffic lane such that the first machine changes between the first traffic lane and the second traffic lane to perform the desired turn.