its 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 codee.

$1.$Your solution should be tested on a $12$x$9$ environment with a starting pose of $(-4\mathrm{.}5,3,0)$ and end at the location of the traffic cone $($with an approximate location of $(3\mathrm{.}0,3\mathrm{.}5)(2\mathrm{.}75,-3\mathrm{.}26)-$ there is no stipulation on the orientation$).$

$2.$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.

$3.$ Implement pid and wall following algorithm with obstacle algorithm like Bug$2.$