Not much detail here. The relevant files of the project are:

  • A Matlab script that does all calculations and generates some nice plots (the source code is full of comments explaining what it does at each step).
  • A WxMaxima script that shows the derivation of the equations required to calculate how the wheels of the vehicle have to turn in order to follow the desired path. If you don't use WxMaxima you can simply check the PDF file I generated with the output of the script, which basically gives the same information. There are plenty of comments together with the equations, I hope it will be easy to follow.