In webots and in java implement an obstacle avoidance algorithm to allow a robot to navigate from a start location, and to reach an end location $($as represented by a traffic cone in the arena below$).$ To do this, you will need to implement a robot controller that knows of a destination location, and can determine the appropriate direction to move to reach its destination, avoiding any obstacles in its way. You should not make any assumptions about the location or configuration of the obstacles in the code $($this will result in a loss of marks$).$ You should also track the distance your robot has travelled in reaching its location, and write up a short report on the approach taken. $1.$ Your solution should be tested on a $12$x$9$ environment.