Simple Pathfinding

int bots; //number of bots

int awareness;  //Define an awareness radius (distance of  
                //castray possibly?)

float avoid; //amount to move away from imminent collision i.e -1

for(b=0;b<bots;b++) //loop through each bot
{
   for(w=0;w<awareness;w++) //awareness on left
   {
      if("castRay w distance out to left collides with anything")
      {
         velocty to west +=avoid; //move east faster
         //turn w degrees right too?
      }
   }

   for(n=0;n<awareness;n++) //awareness in front
   {
      if("castRay n distance in front collides with anything")
      {
         forward velocity +=avoid; //slow down
         //turn n degrees left or right too?
      }
   }

   for(e=0;e<awareness;e++) //awareness on right
   {
      if("castRay e distance out to right collides with anything")
      {
         velocty to east +=avoid; //move west faster
         //turn e degrees left too?
      }
   }

   for(s=0;s<awareness;s++) //awareness behind
   {
      if("castRay s distance behind collides with anything")
      {
         forwards velocity -=avoid; //move forward faster
      }
   }

}