Pathfinding Script Malfunctioning with using ray detection

Help and Feedback Scripting Support
#1

I want to make a pathfinding script that doesn’t break…

problem is every time I try to run the game the bot works but when it starts chasing me it starts jittering back and forth here’s a video on it

I think the problem is here

local function CanseeTarget(target)
	local origin = piggy.HumanoidRootPart.Position
	local direction = (target.HumanoidRootPart.Position - piggy.HumanoidRootPart.Position).Unit * 41

	local rayparams = RaycastParams.new()
	rayparams.FilterType = Enum.RaycastFilterType.Exclude
	rayparams.FilterDescendantsInstances = {workspace.Map:GetDescendants(), piggy}

	local RaycastResult = workspace:Raycast(origin, direction, rayparams)

	if RaycastResult and RaycastResult.Instance then

		if RaycastResult.Instance:IsDescendantOf(target) then
			return true
		end
	else
		return false
	end
end

here is the script

local piggy = script.Parent
local humanoid = script.Parent.Humanoid

local pfs = game:GetService("PathfindingService")
piggy.PrimaryPart:SetNetworkOwner(nil)

local function CanseeTarget(target)
	local origin = piggy.HumanoidRootPart.Position
	local direction = (target.HumanoidRootPart.Position - piggy.HumanoidRootPart.Position).Unit * 41

	local rayparams = RaycastParams.new()
	rayparams.FilterType = Enum.RaycastFilterType.Exclude
	rayparams.FilterDescendantsInstances = {workspace.Map:GetDescendants(), piggy}

	local RaycastResult = workspace:Raycast(origin, direction, rayparams)

	if RaycastResult and RaycastResult.Instance then

		if RaycastResult.Instance:IsDescendantOf(target) then
			return true
		end
	else
		return false
	end
end

local function FindTarget()
	local players = game.Players:GetPlayers()
	local maxdistance = 40
	local nearestTarget 

	for index, player in pairs(players) do
		if player.Character then
			local target = player.Character
			local distance = (piggy.HumanoidRootPart.Position - target.HumanoidRootPart.Position).Magnitude

			if distance < maxdistance and CanseeTarget(target) == true then
				nearestTarget = target
				maxdistance = distance
			end
		end
	end

	return nearestTarget
end

local function attack(target)
	local distance = (piggy.HumanoidRootPart.Position - target.HumanoidRootPart.Position).Magnitude

	if distance > 7 then
		humanoid:MoveTo(target.HumanoidRootPart.Position)
	else
		local PlayerDeath = game.ReplicatedStorage.Events.Death
		local player = game.Players:GetPlayerFromCharacter(target)
		PlayerDeath:FireClient(player, piggy)

		target.Humanoid.Health = 0
	end
end

local function Getpath(Destination)
	local PathParams = {
		["AgentHeight"] = 5.2,
		["AgentRadius"] = 2,
		["AgentCanJump"] = false
	}

	local path = pfs:CreatePath(PathParams)

	path:ComputeAsync(piggy.HumanoidRootPart.Position, Destination.Position)

	return path
end

local function Walkto(Destination)

	local path = Getpath(Destination)
	if path.Status == Enum.PathStatus.Success then
		for index, Waypoint in pairs(path:GetWaypoints()) do

			local target = FindTarget()

			if target and target.Humanoid.Health ~= 0 then
				print(target.Name)
				attack(target)
				break
			else
				humanoid:MoveTo(Waypoint.Position)
				humanoid.MoveToFinished:Wait()
			end
		end
	else
		humanoid:MoveTo(Destination.Position - (piggy.HumanoidRootPart.CFrame.LookVector * 10))
	end
end

local function Patrol()
	local Waypoints = workspace.Waypoints:GetChildren()
	local RandomNum = math.random(1, #Waypoints)
	Walkto(Waypoints[RandomNum])
end

while wait(0.15) do 
	Patrol()
end

thank you for helping