in Webots create a proto that is capable of doing the tasks outlined below. you can just pasts the proto and controller related code for the answer and any other related code

You are tasked with developing a robotic solution which will operate within a warehouse. The objective is to facilitate the movement of goods around the facility using an autonomousvehicle. The environment consists of aisles, and loading areas which do not change overtime. There is existing infrastructure which acts to load and unload your autonomous robotas required, and to provide your robot with its goal location. Your challenge is to design arobot and associated navigation tools which will enable it to efficiently localise within itsenvironment, map its environment and navigate to its goal location, all while minimising

collisions.

Your challenge can be grouped into the following tasks:

$$ Develop a design concept for your robot$$s morphology, and create a model of this robot in the Webots simulation software.

$$ This should carefully consider the choice and placement of the critical

sensors and actuators.

$$ Your design should be appropriate for a robot which needs to efficiently move

boxes around a warehouse.

$$ Your design should be feasible in the real world.

$$ Create a controller for your robot which is capable of using Webot$$s gps sensors to

determine its pose $($x$,$ y$,\backslash$theta $).$

$$ The facility has installed infrastructure in the environment which provides

Webot's GPS sensors with their current location $($x$,$ y$)$ relative to a fixed global

reference frame.

$$ Create a controller for your robot which is capable of mapping the environment when

it is first introduced to it$.$

$$ This map will take the form of a $2$D occupancy grid.

$$ This should be accompanied by any installation instructions which the

operator might need to know in order to install your solution in their

warehouse, i$.$e$.$start the robot in a large open space$,$manually drive the

robot slowly around the facility$,$ etc.

$$ Create a controller which will allow your robot to autonomously navigate to any goal

location in the environment from any other location in the environment.

$$ For this you will need to use an existing map of the environment. In order to

ensure that you can still receive marks for completing this task even if you

were not successful during the previous mapping task, a perfect occupancy

grid of the environment will be provided.

$$ In order to simulate receiving your goal location from existing infrastructure

within the environment, simply hardcode your goal location into your

controller, i$.$e$.$ goal$\_$location $=[10,3]$