How do I avoid obstacles on a predefined path?

Question

I want is a character to walk along a path defined as a waypoint sequence. For example, a soldier patrolling around a castle.

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

How can this 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.