ここで迷わず迂回路を取ることにする。

。

I'll take the detour here without hesitation.

Literal

Here [at-で] without-hesitating detour [object-を] take [thing-こと] [into-に] decide.

A first-person decisive moment. 迷わず ('without hesitating') is the classical negative connective form ~ず attached to 迷う ('hesitate, be lost'). The ~ず form is still productive in formal/written Japanese for creating adverbial 'without X-ing' phrases. ~ことにする ('decide to do X,' 'make it so that X') is one of the two standard ways Japanese expresses a decision (the other being ~ようにする 'try to do X'). ~ことにする = 'I decided to X'; ~ようにする = 'I'm trying to make it so X.' The distinction is decision vs. effort. 迂回路 (うかいろ) is 'detour, bypass route.'