Tune Path Planning and Execution to approach the ball more rapidly

[jgueldenstein]

One of the main issues we identified to play better soccer is approaching the ball more rapidly.
This issue manifests itself in multiple components of the robot's software.
Most notably, the path planning and execution need to be tuned or replaced with a better approach to solve this.
The behavior may also be involved as it controls the robot directly sometimes.

[Flova]

We did quite some tuning during the worldcup. But feel free to improve it further.