How could I make my A* pathfinding NPC better?

My NPC get's the job done, but sometimes he gets stuck around corners trying to cut it too close, and get's stuck.

local p=game:GetService("PathfindingService")
local nodes={}
for _,v in pairs(workspace.Nodes:GetChildren())do
    if v.Name=="Node"then
        nodes[#nodes+1]=v
    end
end

for _,v in pairs(workspace.NPCs:GetChildren())do
    wait(.1)
    Spawn(function()
        while wait()do
            local target=nodes[math.random(1,#nodes)]
            local path=p:ComputeRawPathAsync(v.Torso.Position,target.Position,500)
            if path.Status==Enum.PathStatus.Success then
                local points=path:GetPointCoordinates()
                for _,point in pairs(points)do
                    local part,P=workspace:FindPartOnRay(Ray.new(point,Vector3.new(0,-10,0)))
                    if part then
                        point=P
                        points[_]=P
                    end
                end
                local br=false
                local distance;
                for _=1,#points,2 do
                    local point=points[_]
                    if br then
                        break
                    end
                    local count=0
                    repeat
                        count=count+1
                        if count>100 then
                            br=true
                            break
                        end
                        v.Humanoid:MoveTo(points[math.min(#points,_+1)])
                        if point.Y>=v.Humanoid.Torso.Position.Y-1 then
                            v.Humanoid.Jump=true
                        end
                        distance=(point*Vector3.new(1,0,1)-v.Torso.Position*Vector3.new(1,0,1)).magnitude
                        wait()
                    until distance<5
                end
            else
                v.Humanoid:MoveTo(v.Torso.CFrame*Vector3.new(0,0,5))
            end
        end
    end)
end

In other words, is there a way to make this script LESS accurate? (so he won't get stuck around corners or try to go through tight spaces)

UPDATE: Here is a picture: http://s11.postimg.org/603rmqd4j/Screen_Shot_2015_10_26_at_5_14_38_PM.png