[Al Skierkiewicz]

Rick,
In cases where the robot is already moving you are correct. And in the case of a fast moving robot with the ability to have a small turnig radius (at a stopped condition) would approach infinity at it's maximum speed. i.e. it would hit a wall or field border before turning. In cases where the robot is stationary but turning, the minimum would be the turning radius but I think it still would be affected by the trailer hitting the back of the robot.