SFML collision (random walking characters)

Question

I'm struggling with collision between heroes and objects in my game made with SFML. I want to hero to walk to random location on map (1000 x 600). I wanted to resolve that problem with generating random vector [float x,float y], but I have problem because heroes start to glitching when they meet obstacle.

What's the easiest way to create random walk to desired position with avoiding obstacles. Should I use A* algorithm to find way or there is simplier way.