[meta] Find the Path

[HALtheWise]

The purpose of this task is to demonstrate complex path planning in a crowded area.
The vehicle finds an opening in a field of obstacles to reach the can buoy in the middle. Upon reaching the can buoy, the vehicle circles it and find an opening (either a different one or the same) to exit the obstacle field. The can buoy is a Taylor Sur-Mark Marker buoy #46104 while the obstacles are Polyform A-0 green, red, yellow and black buoys. In at least one point in the obstacle field, the two closest buoys are four to six feet apart.

[HALtheWise]

Note: Polyform A-0 buoys are roughly 8in in diameter.