Trying to figure out ways to avoid obstacles with this new vector based approach

A couple days ago I felt lost. And I still do. I had no idea where to start. Eventually I came up with this code. I`m creating an additional vector that points in the opposite direction of where the obstacle is. If I move using this vector I can make some room between the unit and the obstacle, which then allows me to move a little bit towards the required path node using the initial vector. It works but it appears ugly. The unit doesn`t have a constant speed while going around the obstacle. Also I haven't tried yet but my guess is that the unit will get "confused" if there are several obstacle units next to each other, which I guess is the main problem

if (useInitialVec)
{
float VectorX = NextNodeX - UpixPosX;
float VectorY = NextNodeY - UpixPosY;
float VecLength = sqrt(VectorX * VectorX + VectorY * VectorY);
float SpeedPercent = (0.016 * 100) / VecLength;
float AdvanceX = (VectorX * SpeedPercent) / 100;
float AdvanceY = (VectorY * SpeedPercent) / 100;

float DesiredX = UpixPosX + AdvanceX;
float DesiredY = UpixPosY + AdvanceY;

float DesCDtop = DesiredY - unitsize / 2;
float DesCDbott = DesiredY + unitsize / 2;
float DesCDleft = DesiredX - unitsize / 2;
float DesCDright = DesiredX + unitsize / 2;

bool CDTest = CDCheck(id,&obstacleid, DesCDtop, DesCDbott, DesCDleft, DesCDright);

if (CDTest == false)
{
 UpixPosX = DesiredX;
 UpixPosY = DesiredY;
}
else
{
 useInitialVec = false;
}
}
else
{
useInitialVec = true;
float ObstX;
float ObstY;
GetObstPos(obstacleid, &ObstX, &ObstY);

float VectorX = UpixPosX - ObstX;
float VectorY = UpixPosY - ObstY;
float VecLength = sqrt(VectorX * VectorX + VectorY * VectorY);
float SpeedPercent = (1 * 100) / VecLength;
float AdvanceX = (VectorX * SpeedPercent) / 100;
float AdvanceY = (VectorY * SpeedPercent) / 100;

UpixPosX = UpixPosX + AdvanceX;
UpixPosY = UpixPosY + AdvanceY;
}