Another general Problem is, that the moving unit will get blocked by a pack of other unit.

Whenever you place 5 units on the field, and let a unit try to move "trough" them, the usit will most likely
not make it.
I solved this problem, by making the unit "push" other units, that are willing to move.
So you can push your own units, that have to walk command to the side.
if the pushed unit know it will not fall down somewhere, it moves.
The movement is the angle into the opposite direction of the normal of the collisionvector between
both units tangent point of the circular (cylindrical) collision mesh.
eg: the same as Billiard balls move in collisions...