A solution for navigating a vehicle is provided. The vehicle is navigated from a start location to a target location using a set of linear paths. A current linear path is identified between a current location of the vehicle and the target location. At least a portion of the current linear path is evaluated for a presence of an obstacle. In response to no obstacle being present along the current linear path, the vehicle is instructed to travel along the current linear path to the target location. In response to an obstacle being present, the vehicle is instructed to travel along a different linear path from the current location to an intermediate location, which is selected based on an extent of the obstacle and the current linear path. The process can be repeated until the vehicle arrives at the target location.
