A steering system, method, and computer-readable medium for controlling a steerable, self-propelled vehicle for travelling in an end-to-end series of steerable, self-propelled vehicles, the vehicle including a plurality of individually controllable propelling devices connected at a generally vertical pivot to an axle of the vehicle. The steering system includes: an angle sensor for detecting an inter-vehicle angular position between two of the vehicles and providing a corresponding signal indicative thereof; a distance sensor for detecting an inter-vehicle distance between two of the vehicles and providing a corresponding signal indicative thereof; and a controller system. The controller system is configured to: receive the signals from the angle sensor and the distance sensor, control a speed of each propelling device based on the inter-vehicle distance, and control an angle of each propelling device based on the inter-vehicle angular position.