Add ability to save different series of files
Check if target has already been visited

This is a CRUCIAL step towards keeping these loops under control.
Without this change, it was impossible to reach 10 iterations before the
wait time started approaching infinity. Now I can iterate in constant
time.
First time pathing around occupied spaces
Add multiple obstructions to map
Elminate double frontier bug
Frontier navigating around multiple obstacles
A few small changes to facilitate better output