is there a way I can make a pathfinding npc avoid other humanoids?

local PathfindingService = game:GetService("PathfindingService")
local ship = script.Parent.Parent.Parent
local humanoid = ship.Humanoid
local goal = script.Parent
local path = PathfindingService:CreatePath()
local waypoints
local currentWaypointIndex
 local showpoints = false --if true shows the waypoints.
local waypointcontainer = Instance.new("Model")
local cleanpoints = false







function FollowPath(goal)
	path:ComputeAsync(ship.HumanoidRootPart.Position, goal.Value)
	waypoints = {}
 
	if path.Status == Enum.PathStatus.Success then
		waypoints = path:GetWaypoints()
		currentWaypointIndex = 1
		humanoid:MoveTo(waypoints[currentWaypointIndex].Position)
	else
		humanoid:MoveTo(ship.HumanoidRootPart.Position)
		cleanpoints = true
	end
end




function onWaypointReached(reached)
	if reached and currentWaypointIndex < #waypoints then
		currentWaypointIndex = currentWaypointIndex + 1
		humanoid:MoveTo(waypoints[currentWaypointIndex].Position)
	elseif reached and waypointcontainer and currentWaypointIndex == #waypoints then
		cleanpoints = true
	end
end


function showwaypoints()
	spawn(function()
	waypointcontainer.Parent = game.Workspace
local waypoints = path:GetWaypoints()
for _, waypoint in pairs(waypoints) do
	local part = Instance.new("Part")
	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 = waypointcontainer
end
repeat
	wait()
until
cleanpoints == true
if cleanpoints == true then
	waypointcontainer:Destroy()
	cleanpoints = false
	waypointcontainer = Instance.new("Model")
end
end)
end





humanoid.MoveToFinished:Connect(onWaypointReached)
 


script.Parent.Changed:Connect(function()
	if script.Parent.Value ~= Vector3.new(0,0,0) then
FollowPath(goal)
if showpoints == true then
showwaypoints()
end
end
end)

(I apologize if the script above is long, but I needed to include all the functions so my problem can be better understood)

this is my pathfinding script. and it works fine except for one problem. instead of going around other humanoids it attempts to go through them as if they dont exist. this is a problem because the npc is a ship following a waypoint, and the planets around it have humanoids in them. and while one option is to make them all cancollide false, this is also not possible because if the ship touches the planet it will attempt to land in it. is there a way I can get the npc to treat other humanoids like any other blocking barrier?