Real autonomous ( Tractro Trailer ) Vehicle model to control steering, braking and speed using Matlab and ROS

This is an Autonomous vehicle project, The main Task of this project is to make a steering control of a vehicle, but this vehicle will trail another vehicle ( Tractor Trailer vehicles), -1 vehicle has a motor ( Leading) the other vehicle is passive meaning its only trailling the first vehicle through a mechanical linkage. The purpose of this project is to; 1-Develop a vehicle dynamics method to control the steering angle of both the leading and trailing to follow a predifined path ( indicated by a yellow line ( this line is bigger than the vehicle ). 2-Mathematical and Matlab module to control the steering angle of both car (Trajectory control ( based on the yellow line )). 3-Curvature control of the leading and trailing vehicle in order to achieve optimum curvature line 4-Both of the vehicle will travel in a predifined path from point A to point B, so Start and stop control is also needed.