Caster is the angle to which the steering pivot axis is tilted forward or rearward from teh vertical position, as viewed from the side. If tehpivot axis is tilted backward then the caster is positive; if it's tilted forward, then the caster is negative. Its always been describes to me as the way the wheels act in a shopping cart.
Positive caster tends to straighten the wheel when the vehicle is traveling forward, and thus is used to enhance straight-line stability. Hence the shopping cart example. Tehsteering axis of the shopping cart wheel is set forward of where the wheel contacts the ground. As the cart is pushed forward, the steering axis pulls the wheel along, nd since the wheel drags along the ground, it falls directly in line behind the steering axis.
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