Caster is critical for straight line stability. All of the self correcting tendency comes from caster, and if it's off in the wrong way, you'll get the broken shopping cart wheel wobble! Some is built in to your setup already from what I can see.
Ackerman isn't applicable here. Your CG is über low and your wheelbase is über long, you just want to make your U-turn without dragging one wheel too much.
Ackerman isn't applicable here. Your CG is über low and your wheelbase is über long, you just want to make your U-turn without dragging one wheel too much.