While I was looking for parts I thought, why do I need two motors in the back and why not just leave one and put in an axle or a differential. But then the idea came to slightly adjust the wheel speeds depending on how the steering turns. Basically the same as a differential but electronic. For example, when turning right, slow down the right motor a bit. It's trivial to implement, just need to choose a good function since it doesn't seem linear.
Robot Rabbit #61
translated from Russian