I'm looking for some guidance on steering. I have a 6 wheel vehicle with 4 steering motors. I'm using an Arduino Mega.

Where do I go to look for the calculations to do the corner steering? I have an analog joystick and I can calculate the magnitude of the vector and the angle from zero. (I've got diff drive working)

I need to calculate the angular rate for each wheel I think and the angle for each steering motor. How do I go from magnitude vector and angle from zero(not turning radius) to wheel speeds and angles?

Show us a picture of the vehicle and describe the steering in more detail.

Wheel slippage in differential drive robots is a severely complicating factor for steering calculations, and a lot depends on what steps you have taken to minimize that.

It's a little 3D print rover kit-very much like the one in the link I posted, just not as fancy.

I'm just looking for some general guidance, pointing in the right direction as I don't know what questions to ask to even get numbers for some of this stuff.

What values do I need to accomplish 4 wheel steering? Do I need angular rates and steering angle for each steered wheel?

Is there a specific method to go from vehicle angle and turn radius to angular rates and steering angle? Is there a good way to go from analog joystick values to vehicle speed and turning radius? I can calculate the magnitude of the joystick vector and the angle from the zero line.

You mention slip. Since its a kit, I doubt I'll have too much info on that, other than vehicle dimensions. If we assume no slip, for ease of calculations, what equations do I use? If I want to incorporate slip, where can I find those equations?

I'm hoping to figure out a lot of this-just really need a place to start.

Google will provide lots of basic material on differential steering.

This paper is good for understanding differential steering with a two-wheel drive, where wheel slippage is not such a serious problem, but the server seems to be off line.

I don't think I want differential steering. I thought differential steering was steering by varying wheel speed(tank drive), not by using steering motors. I can do this already. I want to be able to use 4 independent steering motors with 6 drive motors. What is this called?

I've tried to google for steering with steering motors but I have no found anything for calculations that is not differential drive. How do I calculate the angle for the steering motors?

If the distance from the front to the centre wheels is the same as from the centre wheels to the rear wheels then I reckon the same angle is appropriate for front and rear steering.

For more sophistication one might try to rotate the wheels on the outside of the turn a little less because they follow a wider radius than the inner wheels. Personally I wouldn't bother unless there was some problem.

The way rubber tyres interact with the ground during steering is quite complex and there will be some natural side-to-side compensation.