I am working on a project with a robot that has to find its way to an object and avoid some obstacles when going to that object it has to pick up.

The problem lies in that the robot and the object the robot needs to pick up are both one pixel wide in the pathfinder. In reality they are a lot bigger. Often the A* pathfinder chooses to place the route along the edges of the obstacles, sometimes making it collide with them, which we do not wish to have to do.

I have tried to add some more non-walkable fields to the obstacles, but it does not always work out very well. It still collides with the obstacles, also adding too many points where it is not allowed to walk, results in that there is no path it can run on.

Do you have any suggestions on what to do about this problem?