IGVC Path Planner

The Path Planner for the IGVC robot is responsible for two things:
 * Plotting the path to the next waypoint
 * Caclulating intermediate waypoints to avoid obstacles
 * Sending the next waypoint to the motor controller.

Desired Specifications
The Path Planner is responsible for guiding the robot through its environment. For this years IGVC competition, the path planner must recalculate itself at least every 100ms.

Information required
The Path Planner reads the map from the Map Builder in order to calculate its paths.