  A case study is presented of a collision avoidance system that directly
integrates the kinematics of a bi-steerable car with a suitable path planning
algorithm. The first step is to identify a path using the method of rapidly
exploring random trees, and then a spline approximation is computed. The second
step is to solve the output tracking problem by explicitly computing the left
inverse of the kinematics of the system to render the Taylor series of the
desired input for each polynomial section of the spline approximation. The
method is demonstrated by numerical simulation.
