Complex in what way?
like move routs that take the guards in L shapes and squares?
well, i know that i made this a while back but in the demo you can see that the guard that is moving back and forth, he runs foreword for one tile, to catch up to his light. lol
if that's the sorta problem you are having, try controlling the movement of the guard with the event that controls the guards sight.
if that doesn't work, I'll throw a quick event system together and try to see what i can do.