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Canduct and movement of an enemy

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Hi, I have a problem, and I would like you to give me some ideas that could help me to focus on the problem. The problem is: I have something similar to a dungeon, and in that dungeon there is a hidden object. I need that an enemy go to investigate the dungeon and as it investigates it, remember the way where he passed so that it does not repeat all the time and enter the same room twice until you find that static object (which can not be moved) and once you find that object, go to the exit by the shortest way. At first, the enemy moved through waypoints, but that movement was unidirectional, followed all the waypoints until reaching the last waypoint (without being random) That's why I would like you to give me some idea about how to do the previous problem by following the waypoints system. Thank you all.

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