Obstacle avoidance algorithm in Java

I need someone to develop a simple obstacle avoidance algorithm that will take as parameters:
list of collision points (X,Y,Z relative to the car)
motor power of the vehicle
angle of the wheels
duration that the motor will be working
This algorithm should produce a safe path for the vehicle to drive through. The algorithm doesn't need to be super complex it can be as simple for as long as it avoids obstacles.