Help for a "wave defense" mod I'm working on

I'm trying to make a minecraft map inspired by TF2's Mann vs. Machine gamemode, and the first step requires me to make a procedure that gives the robots an AI able to pathfind to the bomb chute (and maybe a second objective along the way). I can't seem to figure it out no matter how hard I try, which is why I'm looking for help. 

I'm working on version 2024.4

Thanks in advance!