make a character walk along a defined path(as much as possible)

Question

What I want is a character walking along a path, which is defined as a sequence of waypoints. For example, a soldier patrol around a castle.

The problem is, I want the soldier to avoid (dynamic) obstacles, without deviating from the path too much.

How could it be done?

Answer 1

Remove from the path any waypoints that lie inside the obstacle and then use your favorite pathfinding routine to connect the waypoints remaining on each side.