Algorthimic Robotics: URGENTPLEASE Consider a two$-$wheels mobile robot as shown in Fig. $1.$ Write a MATLAB code to simulate the

motion of the mobile in the $xy-$plane.

$x(t)=x_0+{\displaystyle \underset{0}{\overset{t}{}}}V(t)cos((t))dt$

$y(t)=y_0+{\displaystyle \underset{0}{\overset{t}{}}}V(t)sin((t))dt$

$(t)={}_0+{\displaystyle \underset{0}{\overset{t}{}}}(t)dt$

Figure $1$: Schematic diagram of a two$-$wheels mobile robot.

a$)$ Assume that your initial position is at $(0,0,45)$ and no side slipping.

b$)$ If the average speed of the robot is $1c\frac{m}{s}$ and the radius of each wheel is $5cm,$ calculate

the time you needed to reach a point $(10,-10).$

c$)$ Determine how many complete turns the wheel will rotate to reach the destination.

d$)$ Plot the track of the mobile from the start to the end.