I have a robot simulation that simulates Mars Exploration Rover with six steerable wheels.
In case of the following steering configuration
// --- // front wheels // // middle wheels // --- // rear wheels
I'd say the heading of the rover with respect of the rover's body is about 45 to the right. My question is what is the right approach of calculating heading with respect of the rover body?
Do I simply sum the steering angles of steering actuators and divide it by the total number of the steering actuators?
Additional Note: Assuming no slippage on a perfectly flat plane.