Phaser - Smart point & click character movement that can consider collisions

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Hey Phaser people,

I'm currently working on a 2d upperview point & click game, using Arcade physics.

What I want to develop is a "smart movement" system, where if you click on a part of the map, your character shouldn't get stuck in obstacles, but pass around them. 

For now, I'm using tweens to move my character to the mouse position, which cancels the collision. Thus, it's a no go.

  , this);

            movePlayer: function (pointer) {
                var time = 9.5;
                var duration = (this.distance(this.player.x, this.player.y, pointer.x, pointer.y) * time);
                this.tween ={ x: pointer.x, y: pointer.y }, duration, Phaser.Easing.Linear.None, true);

Any suggestions ? Thanks ! I've also attached a small screenshot/ drawing of what I strive to achieve.


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