You are thinking correctly, and seem to understand the problem - which is more than half the battle. If you can adjust your mirrors so you can see where the wheels are tracking it is a big help - especially until you get used to it. Swing as wide as possible, and don't cut the wheels until you can see the trailer wheels are about to pass the obstruction. Also be aware that the hind end of the trailer swings the opposite direction, so make sure you know what is over there too.
Take it slow and careful, stay alert, and it will come to you in time .....