Unity3D provides us with some very convenient means to do path finding with navigtion mesh and agent. You could find a very short tutorial about this
http://docs.unity3d.com/Documentation/Manual/NavmeshandPathfinding.html. With such article I created a very simple demo, let a capsule reach to some targets while avoid go though some bricks, just as the following screen shot:
The completely project and source could be found from here.