PX4-Autopilot/docs/uk/frames_rover/ackermann.md

Ackermann Rovers

An Ackermann rover controls its direction by pointing the front wheels in the direction of travel — the Ackermann steering geometry compensates for the fact that wheels on the inside and outside of the turn move at different rates. This kind of steering is used on most commercial vehicles, including cars, trucks etc.

:::info PX4 does not require that the vehicle uses the Ackermann geometry and will work with any front-steering rover. :::

See Configuration/Tuning to set up your rover and Drive Modes for the supported flight (aka drive) modes.