Character rotating around target

Question

I'm using xaitment plugin for Unity as the AI for a demo level but I have a problem. My character is supposed to walk to random points but while it's walking there it's rotating around the point. I can't see what is causing this in my code, I'm assuming it's something to do with my lookat function

using UnityEngine;
using System.Collections;

public class MovementGoto : MonoBehaviour {

    // target position for the movement
    private Vector3 mTargetPosition;
    public Vector3 TargetPosition
    {
        get { return mTargetPosition;}
        set { mTargetPosition = value;}
    }

    public float Speed = 40.0f;

    // Update is called once per frame
    void FixedUpdate() 
    {
        // get the current steering direction to reach the target position
        Vector3 walk = this.mTargetPosition - this.transform.position;

        // ignore 3d
        walk.y = 0.0f;
        walk.Normalize();

        // move into the desired direction
        this.transform.LookAt(this.TargetPosition);
        this.transform.Translate(walk); 
    }
}

Answer 1

I think you may be using the lookAt function incorrectly if you're getting arcs from it. You're using steering, so you may need to overcome any initial velocity. Check out the red3d.com article on steering, particularly arrival.

From the article, arrival should look like:

target_offset = target - position
distance = length (target_offset)
ramped_speed = max_speed * (distance / slowing_distance)
clipped_speed = minimum (ramped_speed, max_speed)
desired_velocity = (clipped_speed / distance) * target_offset
steering = desired_velocity - velocity