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I think the turtlebots have use the navigation stack to achieve something like you describe.

I currently can't access the ros wiki, but there is a list of available packages with a short descripton. See if you can find something that suits your needs. I never used the navigation features, but I think there were some fairly detailed tutorials for the turtlebot.

TL;DR: I think it's possible, google for "ROS turtlebot navigation"