Maybe you should introduce yourself:
http://forums.tigsource.com/index.php?topic=45.0So it doesn't like you are here just soliciting us for answers
I haven't used the UDK, but I know it can do what you want. As can Unity. I would tell you to get Unity, because I am familiar with it and I know it can do what you want.
As for tutorials the Unity site has a subsection called Resources full of demo projects and tutorials with photos:
http://unity3d.com/support/resources/http://unity3d.com/support/resources/tutorials/fpstutorialThis fps tutorial has a section on A.I. and waypoints. Which you could easily learn from to make your desired behavior.
It's not as easy as you think, and you're going to have to do a lot of reading (
http://unity3d.com/support/documentation/ScriptReference/index.html) and some "unfun" things before you come up with results. But if you're dedicated enough, I don't see why you couldn't have a prototype running within a few days.