https://github.com/vinayraj01/Autonom...

From this video, you can see how the steering is controlled using normal components and you get the basic idea about that. Here I am reaching to the solution using these component/approach.
This is my project where I have designed and developed hardware and electronic components by using basic component for an autonomous e-rickshaw

For steering first I made the basic design (https://goo.gl/mU45dP) and think about that where I am installing the motor for steering. so that it can be operated by using code. I used dc motor and used SDC1130 controller (https://goo.gl/QhpYkV) which gives you the motor control utility and which only requires USB-Serial converter {FTDI chip - FT232 https://goo.gl/ev6Z1n }. Use the encoder which tells the position of the steering.

For connection, you can see the datasheet of the SDC1130 connection which is also mentioned in the video.
When all hardware, electrical part, and connections are completed using the utility to control the motor. After configuring you can control the steering using code or joystick.

Music in this video
Song- Broken Days
Artist- Christopher Alcock|Nick Ramm
Album ANW - 2836 Fly Me Away