decideNextPathpoint(), TODO: implement a best first with some decision code that verifies Path does not cross obstacles. (needs to decide where to plot the next point) (if that point needs to be erased, so be it. The decision needs to plot a better point and if no good points are available then backtrack through the history verticies..)(TODO: if obstacle in current path, plot new point on open space closest to Waypoint) (TODO: ask where there ISNT an obstacle and SORTA FINDA GOOD FIT)