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Ackermann Steering System
The idea behind the Ackermann steering is that the inner wheel (closer to ICR) should steer for a bigger angle than the outer wheel in order to allow the vehicle to rotate around the middle point between the rear wheel axis. Consequently the inner wheel travels with a slower speed than the outer wheel.
The purpose of Ackermann geometry is to avoid the need for tires to slip sideways when following the curved path.
The geometrical solution to this that all wheels shall have their axles arranged as radii of circles with a common centre point.
As the rear wheels are fixed, this centre point must be on a line extended from the rear axle. Intersecting the axes of the front wheels on this line will ensure that when the front wheels are steered the inside wheel will have a greater angle than the outside wheel
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