Thanks Vitalii, the document was quite useful in understanding various steering systems and implementations. How ever I am still trying to figure out a basic method for solving Ackerman angle.  Please refer my attached geometrical drawing, In which Ackerman ackerman angle can be solved only if I could figure out a way to find the turning radius from driver steering wheel angle input . (Lateral forces are ignored only geometry is considered) 

Hi, if you are familiar with ROS you can use the agvs_common and agvs_sim packages to simulate an Ackermann steered robot. See:

https://github.com/RobotnikAutomation/agvs_common 

https://github.com/RobotnikAutomation/agvs_sim

http://www.robotnik.eu/mobile-robots/autonomous-agvs/

The robot can be simulated in Gazebo and V-REP.

If you are looking more for car-like, you can check:

https://github.com/RobotnikAutomation/rbcar_common

https://github.com/RobotnikAutomation/rbcar_sim

http://www.robotnik.eu/mobile-robots/rbcar/

Hi Vojtech,  Thank you for taking time to look into and sorry for the poor drawing.

I was actually trying to find the radius each wheel   with instantaneous centre  to individually calculate the distance travelled by each wheel in a circle.

The procedure I am following 

1. Driver Input a steering angle.

2. Steering angle is get converted to Ackerman angle( inside & Outside Tyre)

3. use the Ackerman angle to calculate radius of individual tyres ( geometrical analysis).

But there is an unknown R for solving Ackerman angle which prevent me from going on. 

Alternatively, using steering geometry I can find the angle only if know how driver input angle is get converted to any one of the Ackerman angle 

Regards

Sreeraj