The caster angle is the slope of the imaginary line that intersects the upper and lower steering pivot points when viewed from the side. These points could be the upper and lower ball joints for double wishbone geometry or the lower ball joint and the strut for MacPherson geometry.
Due to caster angle , their is mechanical trail and this trail is responsible for self centering of Steering wheel.

In this video you will learn :-
1) What is Caster?
2) How caster effects the camber and Handling characteristics of vehicle?
3) What is Mechanical Trail?
4) How does the Steering Wheel automatically returns to its center?

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