There is a pathfinding behaviour, but I don't think it would work for this.
I think a good way to do it would be to create waypoints for each character. Each waypoint is an invisible block. Every time the character hits a waypoint, direct him to the next one. You can use simulate control on a platformer or a custom movement behaviour to make this work.
Would you like me to go into more detail on this method?
EDIT : Caiorosisca also gives a good option for you to use.