An articulated vehicle made up of plurality of articulated interconnected modules, including a leading module (1) with a front steering assembly, a rear module (3) with a controlled steerable rear wheel assembly (13), and optionally one or more intermediate modules (2). In said vehicle, two adjacent modules are joined together by a movable articulation support (6, 7) supported on an axle and combined with a rigid oblique articulated connector (8, 9). The position of each movable articulation support (6, 7) and the steerable rear wheel assembly (13) is controlled in such a way that its transverse centre axis corresponds at all times to the bisecting line of the angle between the two adjacent modules. |