Please explain the following code to move a robot in a certain path avoiding collisions and please convert it into C language code:

I need to understand it by calculations or pictorial representation

m = 50;

n = 50;

goal = [25 25];

obstacles=[14 24; 14 25; 14 26; 15 24; 15 25; 15 26; 16 24; 16 25; 16 26

34 24; 34 25; 34 26; 35 24; 35 25; 35 26; 36 24; 36 25; 36 26];

hi = 100;

lo = 0;

eps = 0.01;

room1 = .5*(hi+lo)*ones([m,n]);

room1(:,1:2) = hi;

room1(:,n-1:n) = hi;

room1(1:2,:) = hi;

room1(m-1:m,:) = hi;

room2 = room1;

[b,c] = size(goal);

for i = 1:1:b

room1(goal(i,1),goal(i,2)) = lo;

end

[d,e] = size(obstacles);

if d ~= 0

for i = 1:1:d

room1(obstacles(i,1),obstacles(i,2)) = hi;

end

end

count = 0;

while 1

for i = 2:1:m-1

for j = 2:1:n-1

room2(i,j) = room1(i-1,j)+room1(i+1,j)+room1(i,j-1)+room1(i,j+1);

end

end

room2=room2/4;

room2(:,1:2) = hi;

room2(:,n-1:n) = hi;

room2(1:2,:) = hi;

room2(m-1:m,:) = hi;

for i = 1:1:b

room2(goal(i,1),goal(i,2)) = lo;

end

if d ~= 0

for i = 1:1:d

room2(obstacles(i,1),obstacles(i,2)) = hi;

end

end

if abs(room2-room1) <= eps

break;

end

room1 = room2;

count = count+1;

end

count

surf(room1);