Moving pawn using code

I need to move some characters using commands.
Not sure if I need to create a Pawn or Character, and what kind of Controller.
The thing is I’m doing a combat turn, the characters do not move using the WASD keys, but for commands that are entered by HUD.
The thing is I need to move the character from the point at which it is to a new destination (another character) to attack for example.
Clearly I can use an SpectatorPawn for entering the commands, but I still have the question of how to give orders to move to each characters.

In this video, something similiar to what I want to implement is shown:

Turn Based Battle