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Automatic turning at the end of row and running to the next row as quick as possible is claimed for rice transplanters. This paper reported a steering control method of U-Turn mode for this objective, which calculated the center of every U-turn, then controlled the steering wheel when turning. The developed method produced accuracy turning track during the U-turn time. The mean bias was -3.2 cm between two rows and the standard deviation was 6.1 cm during row following after U-turn operation. Here an attitude sensor informed the computer system to end the U-turn mode or not, and an RTK-GPS informed it to adjust radius of turning arc.