P87 Driverless vehicles can be used in warehouses, air- ports, and many other applications. These vehicles follow a wire embedded in the floor and adjust the steerable front wheels in order to maintain proper di- rection, as shown in Figure P8.7(a) [10]. The sensing coils, mounted on the front wheel assembly, detect an error in the direction of travel and adjust the steering. The overall control system is shown in Figure P8.7(b). The loop transfer function is K L(s) = = = Ko s(s) S(s/π + 1)² (a) Set K₁ =π and sketch the Bode plot. (b) Using the Bode plot, determine the phase at the crossover frequency. Спарте о FIGURE P8.7 Steerable wheel control. Controller Steering servo Steerable wheels Sensing coils Energized guidepath wire (a) Vehicle Directi Reference Controller Motor wheels. Sensing coils (b)