Revision history [back]

There are different possible ways to do this, but your second model is the simplest and is correct. If you think about it, the fixed wheels of an akerman chassis move the same way as a turtle bot, the only difference is that their idividual speeds are not controlled only their average speed. The ratio between there speeds is set by the steering angle.

However if you can measure their actual speed using encoders then you can determine the steering angle as if it was a turtle.

Hope this helps.