[Farer]

The algorithm for finding detour points is as follows. In fact, I’ve improved it a bit through research:

1. Detect a collision with an obstacle on the straight path connecting the starting point and the destination. 2. Decide which direction to explore along the obstacle's outline (for now, the side closer to the destination). 3. If the end of the visible outline is reached, search for an appropriate detour point around that outline. 4. Select a detour point where a straight-line movement from the starting point avoids the obstacle, preferably closer to the destination.

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If the first detour point selection fails, I plan to search in the *opposite direction* along the outline where the obstacle was first encountered. I’m currently working on resolving this part.

You can check out my progress here: https://github.com/Farer/bw_path_finding