Added A* heuristic to speed up searches and decrease processing time required.  TODO:  Allow robot to learn about walls more quickly without noise becoming an issue.  As of right now, the robot headbuts the first wall when run on certain computers.
played with the numbers some more for the observation model.  Got it working to some degree.
I realized our code wasn't utilizing transitions at all.  I added in possible transitions every time a sonar hit or miss is recorded.
I realized that only hits were being registered (no passes).  I fixed it and tweaked the numbers and it is working much better now.
Added idling functionality if no paths are found