In addition to "ozak", I use waypoints - I didn't post before as I think you are looking for answers with regard to 'Collision Avoidance V2'.
However, waypoints are really for moving entities. You still need to take into account collisions. An easy way to do it is to use 3 lanes of waypoints in a line (for example in a corridor), this allows an entity to 'overtake' another entity whilst maintaining oncoming entity 'traffic'. Or you could just sling-shot around (left or right) on a single waypoint line.
You can constantly load the current status of waypoints into a look-up table - a bit like a traffic management system - so rather than a multitude of linepicks, etc your AI can just *know*.
However, waypoints are really for moving entities. You still need to take into account collisions. An easy way to do it is to use 3 lanes of waypoints in a line (for example in a corridor), this allows an entity to 'overtake' another entity whilst maintaining oncoming entity 'traffic'. Or you could just sling-shot around (left or right) on a single waypoint line.
You can constantly load the current status of waypoints into a look-up table - a bit like a traffic management system - so rather than a multitude of linepicks, etc your AI can just *know*.