You are talking about control systems.
A control system has two inputs (called its "perception" and "reference") and one output. The perception is a signal coming from the environment, and the output is a signal that has an effect on the environment. For artificial control systems, the reference is typically set by a human operator; for living systems it is typically set within the organism.
What makes it a control system is that firstly, the output has an effect, via the environment, on the perception, and secondly, the feedback loop thus established is such as to cause the perception to remain close to the reference, in spite of all other influences from the environment on that perception.
The answers to your questions are:
A "goal" is the reference input of a control system.
An "obstacle" is something which, in the absence of the output of the control system, would cause its perception to deviate from its reference.
"Complicated" means "I don't (yet) understand this."
And a thought: "Romeo wants Juliet as the filings want the magnet; and if no obstacles intervene he moves towards her by as straight a line as they. But Romeo and Juliet, if a wall be built between them, do not remain idiotically pressing their faces against its opposite sides like the magnet and the filings with the card. Romeo soon finds a circuitous way, by scaling the wall or otherwise, of touching Juliet's lips directly. With the filings the path is fixed; whether it reaches the end depends on accidents. With the lover it is the end which is fixed, the path may be modified indefinitely."
-- William James, "The Principles of Psychology"
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And the Earth is slowly curving in its orbit, generating an apparent centrifugal force that decreases your weight at midnight, and increases your weight at noon. Except for a very tiny tidal correction, these two forces exactly cancel which is why the Earth stays in orbit in the first place. This argument would only be valid if the Earth were suspended motionless on two giant poles running through the axis or something.
This was my original thought until I realized that of course it cancels or else the earth would crack into pieces.