Abstract: Apparatus and methods are provided to eliminate transient swaying of a towed vehicle imparted upon the towed vehicle during a towing operation by decoupling the towing and towed vehicles rotationally from each other. In one embodiment this is accomplished through the use of a doubly hinged tow bar and to steer the towed vehicle based upon the relative angular deflections of the two vehicles while subtracting out transient rotations of the towing vehicle.

Abstract: A vehicle steering apparatus for a vehicle which has an endless track guided around front and rear rolls. When executing turns substantially larger than the minimum radius of turning of the vehicle, at least the front roll together with the front end of the track are turned to provide for relatively large turns where the rate of turning at the front of the vehicle is greater than the rate of turning at the rear thereof. The front and rear rolls are supported for swivelling movement about substantially upright axes and in one construction of the invention a transmission is connected between the supports for the front and rear rolls to bring about turning of the rear roll and the rear end of the track therewith only after the front roll and the front end of the track therewith have turned through a given angle.