The obstacle avoidance implemented in Example 2.5 (page 62) can easily get stuck.

(a) Show an obstacle and a target for which the robot using the controller of Example 2.5 (page 62) would not be able to get around (and will crash or loop).

(b) Even without obstacles, the robot may never reach its destination. For example, if the robot is close to its target position, but not close enough to have arrived, it may keep circling forever without reaching its target. Design a controller that can detect this situation and find its way to the target.