[Enhancement] Improving the pathfinding

[Ownezx]

Currently, the pathfinding algorithm fails regularly on simple avoidance tasks (#2467).

Possible improvement would be to mix an A* algorithm while exploring a Dubin path graph. This would rely on calculating the collision between a ring of the same width as the object collider and other colliders in the area as well as using a heuristic that could take into consideration warp blockers in the long term.

This article seems to be exactly the problem we are solving but does not have realistic solve time. This repo seem to have an implemented an algorithm that could be interesting to us and has a nice representation of the tree search I would like to do. This repo has a C++ implementation