Building a “Straightforward” path in wireless ad hoc sensor networks (WASNs) not only avoids wasting energy in detours, but also incurs less interference in other transmissions when fewer nodes are involved in the transmission. This plays an important role in recent WASN applications that require a streaming service to deliver large amount of data. In this paper, we extend our early work on the straightforward path routing in WASNs in the presence of the “local minima”, where the routing is blocked due to the lack of available forwarding successors. We bring some new insights of the safety information model for a forwarding routing that is limited in the request zone. A new routing is proposed to make a more intelligent decision in greedy advance and achieve more straightforward paths. The experimental results show substantial improvements of our approach compared with the best result known to date.