I'm trying to figure out what angle to turn the front tires of my small robotic car (about a foot in length) so that it moves in a circle (on level ground) of radius $r$ (will be accommodating circles of different radii). In addition to being able to set my car's speed, it is equipped with a sensor which includes a gyroscope, accelerometer, and a magnetometer.

I'm just looking for some kind of equation that relates the car's tire angle, the car's speed, the circle's radius, and maybe the angular velocity readings from the gyroscope.

It has a car-like configuration.

  • $\begingroup$ Welcome to Engineering Stackexchange. Which configuration does your robot have? Car-like with the two front wheels steerable and the rear wheels fixed? $\endgroup$
    – Karlo
    Mar 23, 2016 at 8:18
  • $\begingroup$ See steering geometry $\endgroup$
    – Dave Tweed
    Mar 23, 2016 at 12:08

1 Answer 1


As a beginning, it is highly encouraged to start by Ackerman's angle theory which models street car turning theory.

You should define more your robot configuration, and decide which variables are dependent on each others and which not.


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