I need help creating code for a robot that will be going down a hallway and needs to stop $1$ meter before hitting the end of the hallway. The robot is placed at a random initial point and needs to center it's self and go straight while using a lidar scan.

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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.

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