What are some other ways to program a robot to navigate a complicated environment other than straight paths and right angle (90 degree) point turn?

Hey i really need some solving this problem: 1. encrypt this binary string into cipher text: 110000. include in your answer the formula the decoder would use to decrypt your cipher text in the format (coded answer) x n mod (m) = y & 2. decrypt this cipher text into a binary string: 106 you.