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You can see asteroids from far away, just turn on dumps and change your flying direction to avoid asteroids. Or build Jump Drives and just Jump into mars direction.
But to use autopilot, you need a GPS waypoint. Which typically means having been there at least once already. From the terminal screen select the GPS tab then click "New from current position".
And while dga8705 isn't wrong about it being up to you whether you fly or jump, most people would use a jump drive to travel that kind of distance.