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.

$2.$ You should ensure your robot tracks its location by using the supervisor mode,

$3.$You should report on your robots progress $($and telemetry$)$ as it navigates around each obstacle. The specific data to be reported is not prescribed here, but ideally it should allow the user to follow what the robot is doing and why it makes the decisions it does. More marks will be awarded if this data is presented on a display using text or $($better$)$ graphically

$4.$Track the distance travelled by the robot

$5.$You can use any obstacle avoidance algorithm you like, but most of the marks will be awarded for implementing Bug$2$

$6.$You can make use of the PID and wall following algorithm

$7.$You should terminate when you reach the destination location $($i$.$e$.$ where the traffic code is$,$ which is approximately at $(3\mathrm{.}0,3\mathrm{.}5)(2\mathrm{.}75,-3\mathrm{.}26)).$ Ideally, your robot should terminate because it realises that the goal location is not accessible $($as it is occluded by the traffic cone, acting as an obstacle$),$ but you can chose to remove the traffic cone from the environment and end at this location.