Coppelia simulation(lua programming)

Hi, I have to create and code an hovercraft on Coppeliasim for it to finish a maze in under 2 minutes I have attached a file of the maze and of an hovercraft. I have to simulate it in two ways: the first way is by using the minimum number of proximity sensor ( my teacher gave us the idea that we can put one in the front and two ray sensors on each side to stay in the middle of the track while going forward), the second way is to use the minimum number of vision sensors) however we cannot do a line following for the vision sensors we have to use the fact that vision sensors can detect the shape and the color of the obstacles it encounters.
The code needs to be written in the lua language.
If you have more question about the assignment instructions don’t hesitate
Thank you!

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