object avoidance stuck in loop

[jurriaanvoskes]

when the robot tries to circumvent a large object with 2 or more intermediate waypoints, it might get stuck in a loop between those waypoints as both keep getting pushed in front of each other,or recursivebug algorithm keeps calculating the same two waypoints over and over

[jurriaanvoskes]

the algorithm to calculate the new waypoint should be able to " see" more than 1 step ahead. this way loops can be avoided