Plesae help me to solve this Embedded System Programming.

Description. You are provided the following hardware: 01 ultrasonic ranging sensor (HC-SR04), 03 laser ranging sensor (VLS3LOx), 01 IMU (Sparkfun IMU Breakout - MPU-9250), 01 PCDuino and its Motor Shield. We need to design an algorithm to make the car run automatically to a destination following a predefined path taking to account input from different sensors mentioned earlier. Two side of the street are bounded by solid wooden fence as illustrated in Fig. 1. The car's dimension is 19cm x 14.5cm. Note that the street has only one lane. If the lane is blocked, the car is capable of detecting the obstacle on the street and find another path toward to destination. The example of a predefined map is illustrated in Fig. 2. Obstacle 20.5cm 7.Scm 2.5cm 20.5cm Larirmer 20.5cm Curtis street (17,17) Fig. 2. An illustration of the designed map Fig. 1. An illustration of the designed street Requirements 1. Providing a flow chart illustrating your controlling mechanism for the autonomous driving car. An example procedure of the controlling mechanism should be: taking sensors input process sensor data control the actuator compare the real value from actuator with the expected value (Feedback control). To design a good controlling mechanism, some basic questions that you want to answer are: How does the car go to destination following the predefined path? a. b. How does the car navigate itself to go to destination? How does the car avoid the obstacle? c. d. How does the system handle the inaccuracy of the sensors? How does the system know where the car is at any the current time given the inaccuracy of the actuators? e. Using state machine, describing the above flow chart (algorithm) step by step. 2. 3. What are the possible challenges that you may need to solve? What are possible solutions to solve these problems