I have a robot that has a start and goal position within a maze. Each point in the maze-grid is simply a Position object containing x and y. I need an algorithm that specifies the robot only moving to its relative right only using goEast, west, east and south from the perspective of the maze. There is an implementation already (with uml and mathod names) that does not support degrees or heading. Just current position, next position and then directions in absolute terms. And the logic that goes for the robor for going only to it's relative right.