Abstract: A steering system, method, and computer-readable medium for controlling a steerable, self-propelled vehicle for travelling in an end-to-end series of steerable, self-propelled vehicles, the vehicle including a plurality of individually controllable propelling devices connected at a generally vertical pivot to an axle of the vehicle. The steering system includes: an angle sensor for detecting an inter-vehicle angular position between two of the vehicles and providing a corresponding signal indicative thereof; a distance sensor for detecting an inter-vehicle distance between two of the vehicles and providing a corresponding signal indicative thereof; and a controller system. The controller system is configured to: receive the signals from the angle sensor and the distance sensor, control a speed of each propelling device based on the inter-vehicle distance, and control an angle of each propelling device based on the inter-vehicle angular position.

Abstract: A hitch apparatus for connecting a self-propelled trailing vehicle to a self-propelled leading vehicle and for measuring their relative positions is described. The hitch apparatus includes: a first hitch assembly for connecting a rear end of the leading vehicle to a front end of the trailing vehicle; a first angle sensor operatively connected to a pivot shaft and capable of measuring a horizontal angle between a centerline of a swivel base extending through a pivot shaft and a longitudinal centerline of the leading vehicle; a second hitch assembly for mounting on the front end of the trailing vehicle, the second hitch assembly including a connecting device mounted on the front end of the trailing vehicle and connectable to the swivel base of the leading vehicle; and a distance sensor for measuring a variable distance between a preselected point at the front end of said trailing vehicle and the swivel base.