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In this paper, we consider the problem of extremum seeking in the presence of obstacles. The analytical expression of the cost function as well as locations and shapes of the obstacles are assumed to be partially or completely unknown. We describe a broad family of control algorithms for a unicycle type system, which provides a solution of the above problem based on Lie bracket approximation ideas. The obtained controllers generalize some known results and allow to construct new control strategies. Furthermore, it is shown that gradient‐free control algorithms can be used for excluding the attraction of trajectories to undesirable equilibriuma in obstacle avoidance problems. [ABSTRACT FROM AUTHOR]