The advancements in ground vehicle construction provide a variety of wheel steering configurations, often with independent and redundant capabilities. On the other hand, conventional ground vehicles, both human-driven and unmanned functionality, still rely on the Ackerman steering geometry or similar heuristics derived from the kinematic model. The presented paper provides a novel control architecture providing path tracking function, while designed to benefit from chassis with redundancy in steering. The low complexity and related low computational demands are one of the main objectives of the presented control structure. The presented control architecture is compared with the Ackerman geometry combined with the Stanley control serving as a benchmark.