diff --git a/include/omath/pathfinding/walk_bot.hpp b/include/omath/pathfinding/walk_bot.hpp
new file mode 100644
index 0000000..b7a9fd6
--- /dev/null
+++ b/include/omath/pathfinding/walk_bot.hpp
@@ -0,0 +1,20 @@
+//
+// Created by orange on 4/12/2026.
+//
+#pragma once
+#include "navigation_mesh.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <functional>
+namespace omath::pathfinding
+{
+    class WalkBot
+    {
+    public:
+        void update(const Vector3<float>& bot_position, const Vector3<float>& target_position, float min_node_distance) const;
+
+    private:
+        std::weak_ptr<NavigationMesh> m_mav_mesh;
+        float m_min_distance_to_path_point;
+        std::optional<std::function<void(const Vector3<float>&)>> m_on_next_path_node = nullptr;
+    };
+} // namespace omath::pathfinding
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diff --git a/source/pathfinding/walk_bot.cpp b/source/pathfinding/walk_bot.cpp
new file mode 100644
index 0000000..9ae649d
--- /dev/null
+++ b/source/pathfinding/walk_bot.cpp
@@ -0,0 +1,31 @@
+//
+// Created by orange on 4/12/2026.
+//
+#include "omath/pathfinding/walk_bot.hpp"
+#include "omath/pathfinding/a_star.hpp"
+
+namespace omath::pathfinding
+{
+
+    void WalkBot::update(const Vector3<float>& bot_position, const Vector3<float>& target_position,
+                         const float min_node_distance) const
+    {
+        const auto nav_mesh = m_mav_mesh.lock();
+
+        if (!nav_mesh)
+            return;
+
+        const auto path = Astar::find_path(bot_position, target_position, *nav_mesh);
+
+        if (path.empty())
+            return;
+
+        if (!m_on_next_path_node.has_value())
+            return;
+
+        if (path.size() > 1 && path.front().distance_to(bot_position) <= min_node_distance)
+            m_on_next_path_node->operator()(path[1]);
+        else
+            m_on_next_path_node->operator()(path.front());
+    }
+} // namespace omath::pathfinding
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