Comparing GoTo Surfing with True Surfing?

Basically, I see it as a way of choosing a movement path. For N ticks try to go to this point, then after that for N ticks try to go to this other point. This gives you some movement path which is repeatable and easily defined. As long as numerically your simulation of the robot behaviour is correct, you never have to actually reach the point you are aiming at. Just make sure you are evaluating the danger for the point you actually reach and not the end point that you gave to your go-to method.

Oh, and don't base your work on the go-to basicsurfer. Rather read the Understanding DrussGT page and read how it works there. Goto surfing has come a long way since those early experiments.