AI Player Jerky Movement - Overcoming Obstacle

I was working in the 3D war game. So I have written code for the AI player for movement, rotation, overcoming obstacle and shooting.

When an AI player requires to overcome from the midway obstacle, it is doing continuous jerk in the movement. Jerks mean it is doing continuous left-right rotation and very quickly.

The following image represents the overall situation that currently exists:


AI Player is moving continuously from one place to another and try to find a way from placed obstacles within the environment. So AI player always has one target to reach so when it detects any obstacle it just does some rotation and then after again started moving ahead with already decided target.

It does not have any problem with bypassing the obstacle but its movement is not smooth that is the main problem.

Here is the complete code that I am using currently:

Code (CSharp):

1.  private void FixedUpdate()
2.     {
3.         if (StopMovement)
4.             return;
5.  
6.         myRigidbody.MovePosition(myRigidbody.position + transform.TransformDirection(aiMovement) * movementSpeed * Time.fixedDeltaTime);
7.  
8.         TakeTurn();
9.     }
10.  
11.     private void TakeTurn()
12.     {
13.         Ray straightRightRay = new Ray(transform.position + Vector3.up * 0.5f + transform.right * 2f, transform.forward);
14.         Ray straightLeftRay = new Ray(transform.position + Vector3.up * 0.5f - transform.right * 2f, transform.forward);
15.  
16.         Debug.DrawRay(straightRightRay.origin, straightRightRay.direction * detectDistance, Color.green);
17.         Debug.DrawRay(straightLeftRay.origin, straightLeftRay.direction * detectDistance, Color.green);
18.  
19.         RaycastHit hit;
20.  
21.         // If we detect an obstacle on our right side, swerve to the left
22.         if (Physics.Raycast(straightRightRay, out hit, detectDistance, obstaclesLayerMask))
23.         {
24.             // Rotate left to avoid obstacle
25.             Rotate(-1);
26.         }
27.         else if (Physics.Raycast(straightLeftRay, out hit, detectDistance, obstaclesLayerMask))
28.         {
29.             // Otherwise, if we detect an obstacle on our left side, swerve to the right
30.             // Rotate right to avoid obstacle
31.             Rotate(1);
32.         }
33.         else
34.         {
35.             // Rotate the car until it reaches the desired chase angle from either side of the player
36.             if (Vector3.Angle(transform.forward, targetPoint.position - transform.position) > chaseAngle)
37.             {
38.                 followAngle = ChaseAngle(transform.forward, targetPoint.position - transform.position, Vector3.up);
39.                 Rotate(followAngle);
40.             }
41.             else
42.             {
43.                 // Otherwise, stop rotating
44.                 Rotate(0);
45.             }
46.         }
47.     }
48.  
49.     // Rotates the car either left or right, and applies the relevant lean and drift effects
50.     public void Rotate(float rotateDirection)
51.     {
52.         // If the car is rotating either left or right, make it drift and lean in the direction its rotating
53.         if (rotateDirection != 0)
54.         {      
55.             // Rotate the car based on the control direction
56.             myRigidbody.rotation = myRigidbody.rotation * Quaternion.Euler(Vector3.up * rotateDirection * rotationSpeed);
57.             currentRotation += rotateDirection * rotationSpeed * Time.deltaTime;
58.  
59.             if (currentRotation > 360)
60.                 currentRotation -= 360;
61.         }
62.         else
63.         {
64.             // Otherwise, if we are no longer rotating, straighten up the car and front wheels
65.             // Return the base of the car to its 0 angle
66.             myRigidbody.rotation = myRigidbody.rotation * Quaternion.Euler(Vector3.up * rotateDirection * rotationSpeed);
67.         }
68.     }
69.  
70.     // Calculates the approach angle of an object towrads another object
71.     public float ChaseAngle(Vector3 forward, Vector3 targetDirection, Vector3 up)
72.     {
73.         // Calculate the approach angle
74.         approachAngle = Vector3.Dot(Vector3.Cross(up, forward), targetDirection);
75.  
76.         // If the angle is higher than 0, we approach from the left ( so we must rotate right )
77.         if (approachAngle > 0f)
78.         {
79.             return 1f;
80.         }
81.         else if (approachAngle < 0f)
82.         {
83.             //Otherwise, if the angle is lower than 0, we approach from the right ( so we must rotate left )
84.             return -1f;
85.         }
86.         else
87.         {
88.             // Otherwise, we are within the angle range so we don't need to rotate
89.             return 0f;
90.         }
91.     }

Please give me your side suggestion to solve this problem. If you want video recording for jerky player movement then let me know, I will record a short video for you.