[Hitchhiker 42]

Originally Posted by Andrew Schreiber

Sort by area of contour, then choose the first contour (i.e. the largest) You may have to do this robot side.

You do need to be careful with this. If you pick the right one in this case, and start turning towards it, you'll end up with the left goal being larger. This can result in massive jiggling between the two goals and not deciding properly.

To do this, you need to pick one and stay with it even if it becomes smaller. This means you need to figure out a way to keep the one you want (maybe by sending a one-time angle to turn to and then using that).