Implement a state machine to perform behavior based navigation.

Using MATLAB

Implement a state machine to perform behavior based navigation. The state machine must include at least 3 behaviors. Go to goal, obstacle avoidance, and boundary following. You must demonstrate its functioning in an environment such as the one illustrated in Fig. 1. The robot is to be equipped with a laser range sensor covering 180 degrees and made up of 4 beams (one every 45 deg).