Smart driving using the map

Keeping track of edges on mars makes it possible to do smart path planning. Once the robot has received lake coordinates from the camera, it will check if a straight line towards the lake is possible. If there are known obstacles on the way, a new path is planned, avoiding the obstacle. Of course the map is completely empty at the start, so it might occur that the robot finds an edge on its way. This is then added on the map and a new path is planned, avoiding this edge too.