I have this group project for which we have to make a program so our robot, a Lego Mindstorms car, can complete a whole lap in a race. We first have 3 practice laps, which I am using to introduce the coordinates of the track and the edges of the track into a hash map (the track has a darker colour so the two light sensors the robot has can detect it). I have heard that I can use some algorithms such as breadth-first search/Dijkstra for path planning (I'd really appreciate it if you could tell me about some others), but I am having some problems because as it is a circuit, the robot will start in coordinates (500, 500), and the possible finish points have to be in (SOMETHING, 500). So, if I used that algorithm it wouldn't go around the circuit, but just straight to the point.  What could I do so it does not turn straight to one of the finish points? Thanks a lot!