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Originally Posted by maxlobovsky
Interesting, but if you are going to have castor supports, why not just have two independtly steerable and powered wheels in the middle and save yourself the trouble of the differential. BTW, if you dont balance your weight carefully, castors can be a real problem because they reduce weight on drive wheels and therefore traction.
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Because this acts like a swerve/crab:
it can go like this:
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or turn in place like this:
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and what I like most: because the turning is controlled by truck rotation, you don't have to control motor output carefully to get it to go straight. Just servo the steering trucks. It will go straight or turn like a car. The differential will minimize wheel slip.