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This is a nice and easy design! I would suggest pressing a copper or brass tube into the plastic for the rudder pin to pivot in to save wear on the plastic, as the plastic is very hard to repair.
A simpler steering design might be to simply create a sort of large half loop of PVC that puts a tiller bar in front of you with enough side clearance to turn in the direction that brings the longitudinal piece closer.
Sorry for the perfectly horrible drawing I attached - just wanted to illustrate this idea quickly here at work.
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