Formula for controlling the movement of a tank-like vehicle?

Question

Anyone know the formula used to control the movement of a simple tank-like vehicle?

To \'steer\' it, you need to alter the force applied the left and right \"wheels\

Answer 1

I think everyone should also take note of the fact that tanks can turn on a Zero-radius circle: by applying the same speed on each track but on opposite directions, tanks can turn on a dime.