Why to use an articulated vehicle in underground mining operations?

Engineers in the underground mining industry have known for a long time that an articulated vehicle is preferable to a normal truck for the navigation in the narrow environments of an underground mine because of its higher manoeuvrability. The two advantages of the articulated configuration can be explained in terms of degrees of freedom in the selection of the directions needed to span the whole tangent space and of the reduced gap between the trajectories followed by the wheels of the truck when steering. Both characteristics can be used in a constructive way for path planning and navigation purposes