There are lots of problems you can easily overlook when doing autowaypointing (like guys using hostages to reach otherwise unreachable spots etc.) and you don't have a map representation right from the start (which has the bots appear looking dumb at the beginning) so I wouldn't advise doing that.
If you're using other terrain representations one of these might be helpfull:
http://serenity.uncc.edu/youngblood/...DE2008Hale.pdf
http://www.aiide.org/aiide2005/talks/isla.ppt
or just simulate a bounding box moving around like turtle rock studios did for their in-built bots in cs and cs:source.