Note: The paper$-$based assignment must be delivered by hand. For computer$-$based tasks, you

can zip all project files into one and upload them on Moodle.

Paper$-$based tasks

Q $1$: Briefly discuss various types of locomotion for the autonomous ground vehicles.

Q $2$: Define degree of mobility and degree of steerability.

Q $3$: Derive kinematic model of differential drive robot. Clearly draw the figure of the robot and

mention all the necessary parameters on the figure.

Computer$-$based tasks

Q $4$: The objective of this task is to develop a simple obstacle avoidance technique that is able to

sense the obstacle using ultrasonic sensor$,$ avoid it and reach the goal location. A sample scenario

is illustrated in Figure $1.$

Note: You cannot use built$-$in algorithms already available in CopelliaSim, it has to be based on

your own logic.

Figure $1$: A sample scenario for abstacle avoidance Can you explain this information correctly and step by step?