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I guess you can try to modify the method that is used for some simple AI that keeps character following some paths and avoiding the walls.
This is done by laser scopes that are checking if you are getting close to the wall from right or left side and are connected to the rotators to change the direction of the character to avoid the wall.
You could basicall reverse the system. Using two scopes checking the place in form of the character. And if he would fall on one side from the rail, then rotate him.
This may not work on very narrow rails. But you can alwas make them wider, but keep only the middle part visible.