Consider a four-wheel steering vehicle in which:
- The front wheels follow Ackerman condition
- The rear wheel are rotated with a fixed angle (dir == dor in the picture below, and such angles do not change if the driver moves the steering wheel)
Actually, this is similar to a classic front wheel steering vehicle, but the rear wheels are not "straight", they are angled.
What kind of trajectory would this vehicle follow? Is there any closed-form equation to describe it?