Abstract: A system having a guidance module to obtain a travel path from an agricultural machine to a target. The guidance module including a perception module to determine target line that extends from the machine to the target, and obstacle detection module to detect an obstacle in the first target line, the obstacle having an obstacle boundary that intersects the target line. The guidance module including a mitigation module to obtain a mitigation path around the obstacle based on the target line and the obstacle boundary, the mitigation path including a mitigation segment. The mitigation module including an entrance module configured to determine a starting position of the mitigation path based on a second target line and an exit module configured to determine the ending position of the mitigation path based on a third target line. The guidance module including convergence module to combine the mitigation path with the travel path.