Penultimate

This will probably be the last update before the final presentation. D* was ditched because i had little time to understand it AND implement it. Used plain ol A* instead, first with recalculation on bumping into obstacle and then recalculation when obstacle comes into visibility range (still not sure if this is how it works ;) . Have a demo to give to Jotwani today, a report to rewrite tonight and print tomorrow morning, and last but not the least, make a presentation for the day after tomorrow.