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