Autonomous guidance of the mining vehicle is based on the path tracking algorithms that make use of pre-calculated desired paths. These paths are often calculated without taking into account the nonholonomic nature of the vehicle motion. As a result the calculated path are not feasible and the path-tracking controller implicitly corrects the situation constructing a feasible approximation for feed-forward control terms. This decreases the overall performance of the guiding algorithm. In this paper we describe the path planning algorithms for articulated and skid steering vehicles that are often used in mining applications. We propose numerically stable procedure for computing off-line skidding and articulation angles. The results of these computations complement conventional path- planing procedures and improve significantly the path-tracking precision, thus constituting the low-cost enhancement for automation of mining vehicle autonomous guidance.