Help me, I need to add npc ai brains?

I have an NPC and he walks some routes. If he sees a player, he will follow him and I can't set him up to avoid obstacles. Help him add brains to jump over obstacles on the way and follow the player I wanted to do this through the index of the routes received, but he constantly jerks to the sides and he just rests his forehead against the wall

local PathfindingService = game:GetService("PathfindingService")

local npc = script.Parent
local humanoid = npc:WaitForChild("Humanoid")
local hrp = npc:WaitForChild("HumanoidRootPart")
hrp:SetNetworkOwner(nil)

local walkAnim = humanoid.Animator:LoadAnimation(script.Walk)
local attackAnim = humanoid.Animator:LoadAnimation(script.Attack)

local nearestplayer = nil
local waypoints
local currentWaypointIndex = 0

local pathParams = {
    AgentHeight = 5,
    AgentRadius = 2,
    AgentCanJump = true,
}

local rayParams = RaycastParams.new()
rayParams.FilterType = Enum.RaycastFilterType.Blacklist
rayParams.FilterDescendantsInstances = {npc}

local lastPos
local animPlaying = false

local RANGE = 60
local DAMAGE = 30

local function canSeeTarget(target)
    local orgin = hrp.Position
    local direction = (target.HumanoidRootPart.Position - hrp.Position).Unit * RANGE
    local ray = workspace:Raycast(orgin, direction, rayParams)

    if ray and ray.Instance then
        if ray.Instance:IsDescendantOf(target) then
            return true
        else
            return false
        end
    else
        return false
    end
end

local function findTarget()
    local players = game.Players:GetPlayers()
    local maxDistance = RANGE
    local nearestTarget

    for i, player in pairs(players) do
        if player.Character then
            local target = player.Character
            local distance = (hrp.Position - target.HumanoidRootPart.Position).Magnitude

            if distance < maxDistance and canSeeTarget(target) then
                nearestTarget = target
                maxDistance = distance
            end
        end
    end

    return nearestTarget
end

local function getPath(destination)
    local path = PathfindingService:CreatePath(pathParams)

    path:ComputeAsync(hrp.Position, destination.Position)

    return path 
end

local function attack(target)
    local path = getPath(target.HumanoidRootPart)
    local distance = (hrp.Position - target.HumanoidRootPart.Position).Magnitude
    local debounce = false
    workspace.Balls:ClearAllChildren()
    path:ComputeAsync(npc.HumanoidRootPart.Position, target.HumanoidRootPart.Position)
    waypoints = {}
    if distance > 5 then
        if path.Status == Enum.PathStatus.Success then
            waypoints = path:GetWaypoints()
            if waypoints.Action == Enum.PathWaypointAction.Jump then
                humanoid:ChangeState(Enum.HumanoidStateType.Jumping)
            end
            for _, waypoint in pairs(waypoints) do
                local part = Instance.new("Part")
                part.Name = "Balls"
                part.Shape = "Ball"
                part.Material = "Neon"
                part.Size = Vector3.new(0.6,0.6,0.6)
                part.Position = waypoint.Position
                part.Anchored = true
                part.CanCollide = false
                part.Parent = game.Workspace.Balls
            end

            currentWaypointIndex = 1
            print(waypoints)
            humanoid:MoveTo(waypoints[currentWaypointIndex].Position)
            --humanoid:MoveTo(target.HumanoidRootPart.Position)
            if waypoints.Action == Enum.PathWaypointAction.Jump then
                humanoid:ChangeState(Enum.HumanoidStateType.Jumping)
            end
            --humanoid.MoveToFinished:Wait()
        else
            humanoid:MoveTo(npc.HumanoidRootPart.Position)
        end

    else
        if debounce == false then
            debounce = true
            npc.Head.AttackSound:Play()
            attackAnim:Play()
            target.Humanoid.Health -= DAMAGE
            task.wait(0.5)
            debounce = false
        end
    end
end

local function onWaypointReached(reached)
    if reached and currentWaypointIndex < #waypoints then
        currentWaypointIndex = currentWaypointIndex + 1
        if waypoints[currentWaypointIndex].Action == Enum.PathWaypointAction.Jump then
            humanoid:ChangeState(Enum.HumanoidStateType.Jumping)
        end
        humanoid:MoveTo(waypoints[currentWaypointIndex].Position)
    end
end

local function walkTo(destination)
    local path = getPath(destination)

    if path.Status == Enum.PathStatus.Success then
        for i, waypoint in pairs(path:GetWaypoints()) do
            path.Blocked:Connect(function()
                path:Destroy()
            end)

            if animPlaying == false then
                walkAnim:Play()
                animPlaying = true
            end

            attackAnim:Stop()

            local target = findTarget()

            if target and target.Humanoid.Health > 0 then
                lastPos = target.HumanoidRootPart.Position
                attack(target)
                break
            else
                if waypoint.Action == Enum.PathWaypointAction.Jump then
                    humanoid:ChangeState(Enum.HumanoidStateType.Jumping)
                end

                if lastPos then
                    humanoid:MoveTo(lastPos)
                    humanoid.MoveToFinished:Wait()
                    lastPos = nil
                    break
                else
                    humanoid:MoveTo(waypoint.Position)
                    humanoid.MoveToFinished:Wait()
                end
            end
        end
    else
        return
    end
end

local function patrol()
    local waypoints = workspace.Waypoints:GetChildren()
    local randomNum = math.random(1, #waypoints)
    walkTo(waypoints[randomNum])
end

humanoid.MoveToFinished:Connect(onWaypointReached)

while task.wait(0.2) do
    patrol()
end