i m working on a project which included ackerman steering mechanism. can anyone help me with code to drive my bot around using ackerman steering mechanism. or atleast help my with where i can search regarding it. 
What is controlling the steering ?
If it is a servo then what is the problem ? Servo moves the steering left, the bot turns left. Servo moves right, the bot turns right.
Where are you stuck ?
Google "robot ackerman steering model" for lots of information.