pic: Top View

[EricH]

A follower wheel is a common thing, in certain drive systems. (So common that, contrary to popular belief, Lunacy wheels were NOT the only thing allowed to contact the regolith--follower wheels were specifically allowed.)

But, as noted, the standard configuration is two, at right angles, with a gyro for rotation, and usually not on a skid steer (Lunacy being the exception).

And, for some teams, an IMU is even more preferred: two accelerometers at right angles to each other and a gyro. Just needs some calculus.


BTW, a more common configuration of a given follower wheel--and a simpler one, I think--is a small wheel (like a VEX omni, and not a VEXPro omni)on the end of a rotating support structure, slightly spring-loaded so it'll stay in contact with the ground.