self-driving car -- 3

i have the MARK car kit. This is the spects: [login to view URL] i use the ultrasonic sensor that it was included in the kit. I need a python/micropython program that the car should read a map and go from one point to another avoiding possible obstacles. The starting point is always the point A and the end points are the B,C,D,E. The F,G,H are the cross roads. I have attached the map and the excel file where is the each possible way that the car needs to reach the final destination. For example if we want the car to go from point A to point B, first should follow the AB way. The car always is at point A and looks at the south. So It has to turn left 90 degrees, then to move 4 squares forward, then turn right 90 degrees, then move forward 7 squares,then turn right 90 degrees, move forward 1 square and finally to turn left 90 degrees because it has to look at the south. But if at any point on this path finds an obstacle the car should go back at the point A and try the next path. The AFB and goes on until the car reaches the final destination that we decided at the beginning of the program.