Wireless sensor networks (WSNs) are essential in environmental, industrial, and urban monitoring applications. However, in hostile environments where communication is hampered by physical obstacles, traditional geographic routing protocols suffer from significant performance degradation. This paper presents OAGF (Obstacle-Aware Greedy Forwarding), a geographic routing protocol capable of obstacle avoidance while optimizing energy consumption and latency. OAGF combines an adaptation of Greedy Forwarding with mechanisms for obstacle detection, alternative route selection, and residual energy consideration. Simulations under OMNeT++/INET 4.4 demonstrate that OAGF reduces latency by an average of 31%, total energy consumption by 38%, and improves delivery rates by 7% compared to GARL and GEAR. These results show that OAGF is a robust and efficient approach for RCSF deployments in complex environments.
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