diff --git a/src/standalone/RouteFinder.java b/src/standalone/RouteFinder.java
index 0b07479..3fce394 100644
--- a/src/standalone/RouteFinder.java
+++ b/src/standalone/RouteFinder.java
@@ -45,10 +45,10 @@ public class RouteFinder {
 
 		for (int NdxObstacle = 0; NdxObstacle < world.Generator.NumObstacles; NdxObstacle++) {
 
-			// double InitialObstacleRow = null;
-			// double InitialObstacleCol = null;
+			 double InitialObstacleCol = 1;
+			 double InitialObstacleRow = 1;
 			existingRobots[NdxObstacle] = modelRobots[0];
-			robotSetups[NdxObstacle] = new RobotSetup(null, null, 0.0);
+			robotSetups[NdxObstacle] = new RobotSetup(InitialObstacleCol, InitialObstacleRow, 0.0);
 		}
 
 		/*
diff --git a/src/world/Generator.java b/src/world/Generator.java
index 8729af7..93f04dd 100644
--- a/src/world/Generator.java
+++ b/src/world/Generator.java
@@ -2,63 +2,89 @@ package world;
 
 import java.util.Random;
 
-
-
 public class Generator {
-	
+
 	public static final int PX_STEP = 64;
-	
+
 	public static final int COLS = 12;
 	public static final int ROWS = 10;
-	
+
 	private static final int SEED = 1;
-	
-	
-//	public static int NumObstacles = (int) (WIDTH * HEIGHT * 0.3);
-	public static int NumObstacles = 1;
 
-	
-	// Contains poistions of obstacles and agent
-	public static int obstacles[][];
+	public static int NumObstacles = (int) (COLS * ROWS * 0.3);
 
 	
+	// Contains poistions of obstacles, start point and destination
+	public static int[] obstacles = new int[NumObstacles];
+
+	// Excuse the crudity of the code, never programmed in Java before
 	public static void main(String[] args) {
+
 		
-		int NdxObstacle = 0;
-		
+		for (int NdxObstacle = 0; NdxObstacle < NumObstacles; NdxObstacle++) {
+
+//			// try to find free place for an obstacle
+//			while (true) {
+//				int x = randInt(0, COLS);
+//				int y = randInt(0, ROWS);
+//
+//				if (obstacles[x][y] == 0) {
+//					obstacles[x][y] = 1;
+//					break;
+//				}
+//
+//			}
+
+		}
+
+/*		// try to find free place for a start position
 		while (true) {
 			int x = randInt(0, COLS);
 			int y = randInt(0, ROWS);
-			
-			
-			NdxObstacle++;
+
+			if (start[x][y] == 0) {
+				start[x][y] = 1;
+				break;
+			}
+
 		}
-		
+
+		// try to find free place for a destination
+		while (true) {
+			int x = randInt(0, COLS);
+			int y = randInt(0, ROWS);
+
+			if (stop[x][y] == 0) {
+				stop[x][y] = 1;
+				break;
+			}
+
+		}*/
+
 	}
-	
+
 	/**
-	 * Returns a pseudo-random number between min and max, inclusive.
-	 * The difference between min and max can be at most
+	 * Returns a pseudo-random number between min and max, inclusive. The difference between min and max can be at most
 	 * <code>Integer.MAX_VALUE - 1</code>.
 	 *
-	 * @param min Minimum value
-	 * @param max Maximum value.  Must be greater than min.
+	 * @param min
+	 *            Minimum value
+	 * @param max
+	 *            Maximum value. Must be greater than min.
 	 * @return Integer between min and max, inclusive.
 	 * @see java.util.Random#nextInt(int)
 	 */
-	public static int randInt(int min, int max) {
+	private static int randInt(int min, int max) {
 
-	    // NOTE: Usually this should be a field rather than a method
-	    // variable so that it is not re-seeded every call.
-	    Random rand = new Random(SEED);
+		// NOTE: Usually this should be a field rather than a method
+		// variable so that it is not re-seeded every call.
+		Random rand = new Random(SEED);
 
-	    // nextInt is normally exclusive of the top value,
-	    // so add 1 to make it inclusive
-	    int randomNum = rand.nextInt((max - min) + 1) + min;
+		// nextInt is normally exclusive of the top value,
+		// so add 1 to make it inclusive
+		int randomNum = rand.nextInt((max - min) + 1) + min;
+
+		return randomNum;
+	}
 
-	    return randomNum;
-	}	
-	
-	
-	
 }