The car can only move forward, i.e. wheels are not allowed to have a negative motion in any case. Wheels are approximately 10 cm apart from each other. I am trying to figure out how the car will turn when the wheels are not turning at the same amount. Obviously car will turn in a circular motion but i need a mathematical equation to model the movement. The midpoint, lets say M, will move circularly around a point in 2D space. I need to find the radius of this circle. What should I research on?

I have a feeling that this is a topic which is widely researched, but I couldn’t find the required material for this problem.

Thanks in advance