path planning lego robot

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I have a big square, this square divided into 5×5 squares,

 any square is 25cm, total 125cm


i want to program the Lego robot to find the minimum path and avoid the objects



for example this code it is for two dimensional array

int array[10][10];
i use the robotC
you can download from:
i connect the Lego with my labtop, and work the Lego in real world
i uploaded an example for report
also i uploaded a lecture for path planning
these links show code
and another 2 link to help you

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