Three-wheeled bicycle, also known as pedicab, is well known as an eco-friendly transportation in Indonesia. The pedicab is usually operated by utilizing human power to transport objects. It also has high mobility in urban areas which is useful for areas with a heavy traffic. In the future, pedicab which operated by human power can be replaced by autonomous controller. This study aims to develop a model of autonomous pedicab. The kinematics and dynamics model of the pedicab motion were developed and analyzed. Furthermore, autonomous pedicab model is built in the simulated environment. Main components, i.e. sensor, module processing, and engine were added to the conventional pedicab. Initial design of the autonomous pedicab is simulated in Robot Operating System (ROS).