Keep Out Zone

[jasondaming]

There are two levels of implementation:

1. System presents a caution when the robot would overlap a keep out zone
2. System adds a waypoint at the point of peak interference and moves it perpendicularly to the path until there is sufficient clearance.

I am still worried this will do undesired things for the user and be used in ways it shouldn't be, but it is something I would possible take a look at down the road.