The simplest approach assumes obstacles are all the same size, and the line is straight through each
obstacle, you choose a semicircular diversion path and follow it by dead reckoning and hope the line
reappears after about 180 degrees of circling...
To go faster you have to optimize the path (no hard corners, predict the maximum speed without skidding for each circular track, etc etc).
Think about how you would perform the same task given the same sensor inputs and no others....