function $[$u$,$ stop, info$]=$ robot$\_$guidance$($t$,$ lidar$\_$scan, wheel$\_$encoders, info$)$

$\%$ robot guidance function

$\%$

$\%$ This will be called by the sim $/$ robot interface. This function receives

$\%$ sensor data which you can use to compute wheel speed commands that will be

$\%$ used to steer the robot down the corridor. Output should be the rotation rate

$\%$ of each wheel in rad$/$s$.$ The example code here creates a randomly driving

$\%$ robot.

$\%$

$\%$ Arguments:

$\%$ t $--$ the current time $($in seconds$).$ Zero is the unix epoch $($midnight

$\%$ GMT on $1970-01-01)$

$\%$ lidar$\_$scan $--$ a structure with fields:

$\%.$lidar$\_$theta $-$ a vector of angles $($rad$)$ where there is a lidar distance

$\%$ reading available. An angle of $0$ is straight ahead of the robot.

$\%$ The axis of rotation is vertically $"$up$"$ and rotations are

$\%$ right$-$handed.

$\%.$lidar$\_$range $-$ a vector of distance readings from the lidar $($m$)$

$\%$ corresponding to the angles in lidar$\_$range

$\%$ wheel$\_$encoders $--$ a structure with fields:

$\%.$left $--$ encoder count for rotation of the left wheel. Positive is the

$\%$ robot moving forward.

$\%.$right $--$ encoder count for rotation of the right wheel. Positive is

$\%$ the robot moving forward.

$\%$

$\%$ Returns:

$\%$ u $--$ a $1$ x $2$ array giving the commanded rotation rate $($rad $/$ s$)$ for the

$\%$ left and right wheels. Left wheel should go in the first entry and

$\%$ right in the second.

$\%$ stop $--$ boolean, true if you want the robot to stop because you have

$\%$ finished your task. False if you want to keep going

$\%$ info $--$ anything you want to save. This will loop back in $($the outer

$\%$ managament code will give it back to you next time this function runs$)$

$\%$ so if you need to keep track of anything between runs you can put it in

$\%$ here. Make it an array, cell array, structure, whatever you like.

speed $=$ rand$()*0\mathrm{.}15$;

turn$\_$rate $=0$;

u $=[1,1]*$ speed $+[1,-1]*$ turn$\_$rate $/20$;

if abs$($mean$($u$))>0\mathrm{.}5$

$$u $=$ u $/$ norm$($u$)*20$;

end

u $=$ u$/0\mathrm{.}0333$;

stop $=$ false;

end

Edit this code in a way that lidar information received back helps the robot redirect its direction if its too close to a wall. The robot will randomly be placed in the floor on a hallway and must reach a final destination about a meter away right at the center of the hallway, but must be directed based on the information received back by a lidar scan sensor$.$