Fixed functions in pathfinding logic

I found those two inconsistencies while browsing the code. Someone familiar with the PathFinder and ObstacleCheck should have a look if I interpreted those functions correctly.
While it is fine to refactor these, at the same time doing that reduces the ability to fine tune (i.e. have the duration to evade to be different to the duration for detecting a stuck condition).  I'm not sure if the payoff is there the make this change.