Something like this can work:
Add a collision geometry, for example a sphere or a box to the AI character. Set its size large enough, and you can check the overlapping actors with this primitive. Try to cast them into “targetpoints”.
Most likely you should turn off collision when you don’t need it, but I think then you have to call something like UpdateCollisions after enabling (SetCollisionEnabled with NoPhysics), before calling GetOverlappingActors.