Steering to the desired angle with a smooth adjustment is essential for any mobile robot. As per seen in Figure, For single steering setup, the robot is at 103.7 degrees heading location. The desired turning is set to zero degrees. However, steering wheels struggle to stay in a straight online and introduces a counter-steering angle with large values. On the other side in dual steering setup, when the initial heading of the robot is 50.8 degrees and tries to stay on 0 degrees turning path. It does not see much variations as, as single steering wheels do not perform counter steering actions but dual steering wheels. That stabilises the robot more on straight line and sees fewer variations.
This Video Shows that boh wheels adjust themselves as they required to move the vehicle in the desired direction.
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