In this project, you need to prepare a MATLAB code running with CoppeliaSim which performs an obstacle avoidance behavior by using a mobile robot. After the start of the simulation, the robot should move and pass the obstacle without crashing it. Figure 1 Coppeliasim Scene You can use a path planner such as Artificial Potential Fields to generate the path for the obstacle avoidance along with pure pursuit controller in MATLAB. The pure pursuit controller (controllerPurePursuit) will give the linear and angular velocities of the mobile robot if you give the desired path as a parameter. The LookaheadDistance parameter should be adjusted to perform a good obstacle avoidance