provide steps and screenshots

The orientation of a stationary wall is used as a reference to reset the heading and lateral position (either X or Y coordinate) of a mobile robot as it travels along the wall. A ranging sonar sensor on the robot measures the distance from the wall. Several data points consisting of the measured distance to the wall and the corresponding longitudinal position of the robot are collected and a straight-line fit is made. The data is given in the table below. Determine the best straight line fit for the reference sonar data and the actual sonar data and show the plot of each curve along with the measured data. Plot (using Matlab) the two straight lines on the same plot and determine the lateral offset between them. Determine the robot's heading with respect to the wall for each case. The orientation of a stationary wall is used as a reference to reset the heading and lateral position (either X or Y coordinate) of a mobile robot as it travels along the wall. A ranging sonar sensor on the robot measures the distance from the wall. Several data points consisting of the measured distance to the wall and the corresponding longitudinal position of the robot are collected and a straight-line fit is made. The data is given in the table below. Determine the best straight line fit for the reference sonar data and the actual sonar data and show the plot of each curve along with the measured data. Plot (using Matlab) the two straight lines on the same plot and determine the lateral offset between them. Determine the robot's heading with respect to the wall for each case