Use mapMaze to create a maze$-$like obstacle arena. Alternatively, makemap$(100)$ to create a maze$-$like

obstacle arena. With makemap, you can add obstacles to the arena using the $p-$draw polygon on the arena.

Do not leave out the large empty spaces in the arena. You may download the robotics toolbox for use

with MATLAB, if needed.

$($a$)$ Use the Bug$2$ algorithm to "manually" solve a maze contained in an arena. Choose at least two

sets of start and finish locations located farther apart from each other.

$($b$)$ Next, modify the algorithm such that it changes its turn direction as it hits an obstacle. Repeat

part $($a$).$

$($c$)$ Repeat part $($a$)$ with the Bug$1$ algorithm. Is the performance better or worse compared to Bug$2?$

Explain.