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If you want anything more elaborate than carrot_planner, you can try emielke's global_replanner, which is a remake of global_planner. Vanilla global_planner does not take into account default_tolerance parameter, which probably does what you're asking for: if the goal is blocked or inside an obstacle, it looks for possible goals within a square of side equal to default_tolerance meters.

(I myself have been using this planner for some time now, it's working great.)

More info in this question.