How can I make an NPC flee from danger while avoiding obstacles in its path?

The logic I have so far can be seen below. The laser scopes are set to detect the ground and obstacles ahead of the NPC as well as to the left and right of it. The Look At Rotator makes the NPC face away from the danger its running away from. Once an obstacle is detected, the Rotators allows the NPC to change direction and avoid it.

https://youtu.be/f66oGTsg9nk

But instead, the NPC just crashes into obstacles and spazzes out trying to go around them.