This section addresses a motion strategy problem that deals with uncertainty with sensing$.$ The BUG algorithms make the following assumptions:

The robot is a point in a $2$D world.

The obstacles are unknown and nonconvex.

An initial and goal positions are defined.

The robot is equipped with a short$-$range sensor that can detect an obstacle boundary from a very short distance. This allows the robot to execute a trajectory that follows the obstacle boundary.

The robot has a sensor that allows it to always know the direction and Euclidean distance to the goal.

BUG$1$ This robot moves in the direction of the goal until an obstacle is encountered. A canonical direction is followed $($clockwise$)$ until the location of the initial encounter is reached. The robot then follows the boundary to reach the point along the boundary that is closest to the goal. At this location, the robot moves directly toward the goal. If another obstacle is encountered, the same procedure is applied.

now need a code which works on matlab and shows the output in graph for bug$1$ algorithm