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@deathanatos

Yes, as you mentioned, the idea of "it doesn’t have to be the optimal path" aligns perfectly with my thinking as well.

In the case of the algorithm I’m currently working on, it wouldn’t enter those concave areas directly. Instead, it would "look" at the obstacle first, recognize that the path is blocked, and then proceed toward one of the corners at the bottom or top of the concave shape. Afterward, it should be able to exit again using the same approach.

However, to make it behave more like a creature with vision in certain situations, it might be good to enhance the algorithm slightly so that it can preemptively recognize "Ah, this is a concave obstacle." That way, it could avoid inefficient behavior while still maintaining its "realistic" navigation style.