Code Bug $2$ algorithm in MATLab. The algorithm should first head towards the goal on the m$-$line. If an obstacle is encountered follow it unitl you encounter the m$-$line again. Leave the obstacle and continue towards the goal. bug$2$BUG $2$ More formally

Let $q_0^L=q_{\text{s}\text{t}\text{a}\text{r}\text{t}\text{;}}i=1$

repeat

repeat

from $q_{i-1}$ move toward $q_{\text{g}\text{o}\text{a}\text{l}}$ along the m $-$line

until goal is reached or obstacle encountered at $q_H$

if goal is reached, exit

repeat

follow boundary

until $q_{\text{g}\text{o}\text{a}\text{l}}$ is reached or $q^H$ is re$-$encountered or

m$-$line is re$-$encountered, x is not $q^{H_i}{q}_i^L=mi=i+1q^H,d(x,q_{\text{g}\text{o}\text{a}\text{l}})$ and way

$to$ goal $is$ unimpeded

$if$ goal $is$ reached, exit

$if{q}^{H_i}is$ reached, return failure

else

$q_i^L=m$

$i=i+1$

$continu{e}_{\text{r}\text{u}\text{n}\text{.}m\text{w}\text{i}\text{l}\text{l}be\text{u}\text{s}\text{e}\text{d}to\text{t}\text{e}\text{s}\text{t}\text{t}\text{h}\text{e}\text{c}\text{o}\text{d}\text{e}\text{w}\text{r}\text{i}\text{t}\text{e}\text{n}\text{.}}$