It really is, yes.
You're best off setting it all up on paper.
Create an example of a simple test on paper, ie, draw out a little area that needs to be pathfinded ( pathfound? ) like we were drawing the ASCII art above.
Once you have it all drawn up with the exact directions that you want it to go, then start writing Psuedo Code of what you want to check for.
ie, first you would check for collisions and then turn it so that it's going around the object etc. ( using my original snippet as an example )
And once you have it all planned out on paper, you can START to code it, but make sure that you do it all in modules, and that you are continually testing it so you know what's working and what isn't.
Also, if you end up using a virtual grid system in the pathfinding ( A* ) then you can draw that onto the paper so that you can see where the unit will be in relation to each grid section.
Just make sure that you plan it out first, otherwise you're just gonna get stuck and extremely frustrated with it as you will not know what the problem is.
Hope I Helped...
Jess.

Team EOD :: Programmer/Logical Engineer/All-Round Nice Guy