Improve rover's navigation/path planning

[lazy-whatever]

Description:

• Currently when the rover navigates, it back tracks, halts, and collide with the wall from time to time. Even when no barrel is in front it, it may stop and turn around to travel in an opposite direction of the shortest route.
• In this issue, different packages of navigation algorithms will be implemented and see which one works best for the rover.

Goals:

• Reduce the back tracking problem as much as possible. Boost the efficiency and speed in going to way points.

Acceptance Criteria:

• The navigation time of the rover after implementing different algorithms should be shorter than before. The number of back tracking and halting should be reduced.