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As we can see, an autonomous vehicle is an evolutionary process that has been going on since the early 20th Century with the aim of having an independent vehicle that can navigate itself to a selected destination. The process of achieving it is possible only with a robust motion controller and a reliable path planner.

The main reasons for using articulated vehicles are: –

• Sharper turns are allowed by an articulated vehicle than their rigid counterparts of the same size.
• When the surface is uneven, the wheels are kept possible enough to keep it with respect to the ground.

Source:- Autonomous driving system for reversing an articulated vehicle by AMRO ELHASSAN.  Department of Automatic Control. The Royal Institute of Technology.