Depending on your definition...
...Sojourner had such a system. That is, it had a visual/mechanical system that, once an end-point had been chosen by a human, could navigate around obstacles and arrive at that end-point. Without human intervention. It was only used one time on Mars and it performed brilliantly. The reason it was only used that once was because the ground controllers did not trust it. They preferred to micromanage the 'bot's movements, over trusting the automated system.