This paper presents an analysis of the influence of caster wheels on the trajectory of a six-wheeled mobile robot with a rocker-bogie suspension during sudden changes in direction. The main objective is to quantify the degree of influence of passive wheels on the trajectory deviation at different steering angles. It is found that the self-alignment process of the caster wheel exerts a negligible effect on the drive wheel located on the opposite side of the arm. This, in turn, can result in a discrepancy between the actual trajectory of the robot and the one predicted in simulations. This divergence can have a negative effect on navigation accuracy and must be accounted for in the control system. This paper examines the process of self-alignment from different initial angles affecting the trajectory of a mobile robot, with the aim of predicting these deviations and then incorporating them into control algorithm to compensate for trajectory errors. The analysis presented here covers the behavior of the passive wheel in static and dynamic conditions, as well as the experimental evaluation of lateral loads on structural elements.