private void searchNewPath()
	{		
		if(Goals.isEmpty())
		{
			return;
		}

		//Zufaellige Position bestimmen und Weg ermitteln
		int[] pos = getValidPosition();		
		int[] bg = PathFinder.getBestGoal(Lines, Goals, new float[]{pos[0], pos[1]}, false);
		PathFinder PF = new PathFinder(Lines, pos, bg, PathFinder.MODE_TREE_BROAD);
		PF.calculatePath();
		Path P = PF.getBestPath().clone();		
		if(!P.isEmpty())
		{
			Paths.add(P);
		}
	}