I understand you have a gameboard and need the actors to stay on their paths?
If this is the case, I would use a graph structure where the guards move along edges between nodes in the graph. You could roll your own plugin to store a graph tree, use the editor, or build up waypoints using plopped gameobjects and use the "moveto" behavior.
If you have other behaviors or custom movement already controlling the guards, then simply use some game objects for the catwalk itself or the boundaries. You can text for collisions (overlaps) and then provide logice for the guards to go a different direction.