Tracked vehicle arrangement including main vehicle and trailer

A non-transitory computer-readable medium comprising instructions which, when read and executed by a processor on board a vehicle arrangement comprising a main vehicle with right and left tracks and an articulated trailer with right and left tracks, configure the processor to implement a method that comprises:

• receiving a steering command input;
• determining a track command for each of the tracks based on the steering command input;
• and
• regulating power to each of the tracks in accordance with the determined track command to steer the vehicle arrangement;
• wherein in case of the steering command input being indicative of a right turn in a forward direction;
• a track speed associated with the determined track command for the left track of the main vehicle is greater than a track speed associated with the determined track command for the right track of the main vehicle;
• a track speed associated with the determined track command for the right track of the trailer is greater than a track speed associated with the determined track command for the left track of the trailer;
• the track speed associated with the determined track command for the right track of the trailer is less than the track speed associated with the determined track command for the left track of the main vehicle;
• wherein:
• the track speed associated with the determined track command for the left track of the trailer is between the track speed associated with the determined track command for the right track of the main vehicle and the track speed associated with the determined track command for the left track of the main vehicle.