[WIP] Get out of obstacle

[SyrianSpock]

Still a work in progress, but this PR does the following:

• switches motion planning to happen asynchronously in a thread
• compute a plan all the time
• if stuck in an opponent, move radially away from it

First tests seem OK, but it requires more thorough testing, especially on the strategy, that going somewhere actually goes where we specify. In the meantime, a first look can't hurt ;)

[SyrianSpock]

Note: this will make debugging wheelbase motion harder but it opens the way for more flexible strategy actions

[SyrianSpock]

I think we can safely decline this PR it's a suboptimal incomplete solution to the problem, but we get a 1st idea of how not to tackle it :wink: