Now that you can see barriers and also know direction, you'll want to do dynamic path planning. Dynamic path planning simply means that you don't have a knowledge of the entire world with all the possible barriers before you encounter them. Your robot will have to decide how to proceed while it is in the middle and actually moving. This can be a complex topic, but there are some basics that you can start to understand and apply as you ask your robot to move around its environment. Let's first address the problem of knowing where you want to go and needing to execute a path without barriers, and then adding in barriers.
In order to talk about dynamic path planning, that is, planning a path where you don't know what barriers you might encounter, you'll need a framework to understand where your robot is as well as to determine the location of the goal. One common framework is an x-y grid. The following is a drawing of such a grid:
There...
