Modeling multi-unit vehicle dynamics for low-speed path-following assessment off-highway

This paper proposes a non-linear dynamics model for articulated vehicles. This model is able to capture common low-speed behaviours of any articulated vehicles off-highway, such as operating for a corner or roundabout on a cambered or slippery surface. It can be used to assess the low-speed manoeuvrability of articulated vehicles under such manoeuvres and conditions. The vehicle model was validated by comparing its path tracking performance to that of the field tests.