If rover starts searching close to the edge of the arena, goal location can be set to outside arena

[ManuelMeraz]

After observing the rover in a travel state using a random heading, it reached the edge of the arena. We had programmed it to iterating through the CPFA state machine call through the CPFA search controller, which would eventually trigger the rover to switch to an uninformed search. I then realized that this means that the rover would inevitably switch to an uninformed search, it was just a matter of time before it switches while running into the wall. We might as well just have the rover switch to an uninformed search as soon as it hits the edge of the wall because in a sense, we are just delaying this inevitability.

After observing the rover in an uninformed search state at the edge of the arena, I noticed that it kept trying to travel into the wall. This logically means that it set a goal location outside of the wall.

Solution: As soon as the rover's current location + the search step size is equivalent to the edge of the arena, then we can just switch to uninformed search state.