You are in a 10 by 10 world. There are obstacles that you have to avoid at: (4, 1), (1, 7), (0, 0), (5, 3), (0, 8), (0, 1), (0, 2), (2, 1), (5, 4) and (1, 5). Go from (0, 9) to (9, 8).