MECH4003 – Mobile Robotics
Assignment 1
Report Due: 23:59 Week 9 Friday – 1
st September 2023 (70%)
Submission is via Turnitin on vUWS, late submission will be penalised by 10% per calendar day.
MATLAB codes must be included in the report for review via Turnitin, a copy of the programs must also be
submitted through a separate link, plagiarism/copying will be reported and dealt with accordingly.
You are required to work in groups of no more than two students each (or individually if desired).
Group members should be familiar with all aspects of the project. The in-class assessments will be
based on the following aspects:
Individual performance of each student towards the project during tutorial sessions.
Individual demonstration of the MATLAB/Simulink programs.
Groups will be assessed on their progress based on the following schedule. Group members present on
the dates mentioned in the schedule will be given a mark according to their progresses related to the
schedule. Zero mark will be given to the student who is absent at the scheduled assessment time.
Part I: Build and simulate the kinematic model of this robot
Milestone Due: Week 8 Tutorial – 22nd August 2023 (15%)
A tricycle like mobile robot is shown in Figure 1. There are usually two different types of
mechanisms used to manoeuvre a tricycle. The first type uses the front wheel for both the steering and
driving actions, while the second type uses the front wheel as the steering wheel and back wheels as
driving wheels.
Assuming the following:
Group number is G
Axial distance is
= √
