Abstract: Many games, in particular RTS games, are populated by synthetic humanoid actors that act as autonomous agents. The navigation of these agents is yet a challenge if the problem involves finding a precise route in a virtual world (path-planning), and moving realistically according to its own personality, intentions and mood (motion planning). In this paper we present several complementary approaches recently developed by our group to produce quality paths, and to guide and interact with the navigation of autonomous agents. Our approach is based on a BVP Path Planner that generates potential fields through a differential equation whose gradient descent represents navigation routes. Resulting paths can deal with moving obstacles, are smooth, and free from local minima. In order to evaluate the algorithms, we implemented our path planner in a RTS game engine.