[Farer]

Oh! That’s exactly correct! It seems I didn’t explain it clearly enough.

As you mentioned, *"the goal is to find a decently short path, not necessarily the shortest one."* That’s absolutely right. The basic idea is that when an obstacle is encountered, *I just need to find the first detour point.* After that, the process can be repeated from that detour point in the same way.

The link you provided is also very intriguing. I’ll take a closer look and provide feedback again afterward!