The rear wheels act as casters, swiveling nearly 180 degrees, and allow the vehicle to pivot around the contact patch of one front wheel. Unfortunately, the ability to swivel also makes the vehicle unstable as it wants to swap ends, particularly at high speeds, and will easily flip. I've built caster angle into the pivots and used gas springs to both center and damper the rear wheels, but it's just not enough to make it stable. The linear actuator will stabilize the vehicle, steering in conjunction with the skid steer of the front tires. I haven't tried eliminating the skid steer capability, but I'm quite certain it would significantly reduce the vehicle's maneuverability.
I think you have underestimated the requirements for a "trail capable mobility vehicle".
For starters, we can do nothing with the limited information you have provided. It is much too early to even talk about software as that is something that cannot be addressed until the hardware has been designed and fabricated. There is absolutely NO "Design Criteria" per se so your concept has not even reached the Feasibility Study stage, let alone the POC (Proof of Concept ) stage.
The sequence is as follows:
1- Create a "DESIGN CRITERIA" (it is pointless to proceed to the Feasibility Study stage without the Design Criteria because the whole purpose of the Feasibility Study is to ascertain if the Design Criteria can be met. No DC, no FS. No FS, no POC.
2- Feasibility Study : Research whether the Design Criteria can be met
3- POC: Design and build a Proof of Concept prototype for testing (per Design Criteria)
The fact that you have a vehicle says nothing about whether or not that vehicle meets the criteria,
as the criteria do not exist (have not been presented by you in any formal manner. Posting on the forum not constitute a Design Criteria. You can post the DC when you have created it. "Trail capable vehicle" does not constitute a Design Criteria. It is for you to define what "Trail capable vehicle " means by designing a test against which any possible candidate can be included or excluded. I don't see that yet so that description is essentially useless for all engineering purposes. Your idea of a " trail capable vehicle " may not meet any reasonable realistic criteria. That remains to be seen.
4- If you have a POC (and your photo of your vehicle on a trail is useless by the way) you need to prove it by posting a video of the vehicle navigating some trail. At the moment, the "STABILITY" issue seems to be an impasse. You have not quantified the definition of "stability issue " and the absence of any CLOSE UP PHOTOS OF THE UNDERCARRAIGE of the vehicle make any discussion of the subject heresay and academic. If you are serious about pursuing this you need to post a link to a YOUTUBE video that demonstrates "STABILITY ISSUE". To say that phrase is vague would be an understatement.
You need to first define STABILITY in concrete terms before you can entertain a discussion about any STABILITY ISSUE. What is YOUR criteria for STABILITY ? What is the "ISSUE".
Where is the video showing the "issue" ?
Provide a complete package of photos.
Provide a mechanical drawing with dimensions
Provide side view photos showing a vertical ruler next to some object of known dimensions , such as a golf ball, tennis ball, baseball, bowling ball etc.. to give an idea of the dimensions.
Post a Test Criteria by which any possible design candidate can be evaluated and included or excluded as a possible POC prototype.
As far as I can tell, you are not yet at the POC stage. You have an idea, a goal , a few very distant photos and no engineering criteria to speak of, certainly nothing that even remotely qualifies as "Engineering Specifications".
I really don't know how you expect us to answer the questions you have asked based on nothing.
As a comparison, I would recommend including a photo of YOUR vehicle compared to vehicles that have ALREADY been QUALIFIED a ALL TERRAIN VEHICLES (AKA ATVs) perfoming the test you design by which you intend to qualify YOUR vehicle. Having seen your photos, I would say you have not a clue what is required for a vehicle that is going to be on a "trail". Real "trails" have rocks and tree branches everywhere, not to mention uneven spots. Are you expecting us to accept a definition of "trail" that means a "hard flat dirt path that has been swept of obstacles and anything that might impede a wheel chair " ? To have any hope of success , you need to START with an ATV and modify it to accomodate you. Your vehicle wouldn't make it 10 feet on a "real ' trail. (IMO)