Semi-Lagrangian schemes are characteristic-based methods for the numerical solution of hyperbolic partial differential equations (PDEs), which maintain stability under large Courant numbers.However, the need to locate the feet of the characteristics and the challenge of managing flux-deformed grid elements can significantly reduce efficiency in the case of unstructured grids. In this work, we present a semi-Lagrangian scheme for Fokker-Planck equations, wherein these issues are addressed through the application of an efficiently initialized version of the Barycentric walk algorithm and the Sutherland-Hodgman algorithm, respectively.