Autonomous Robot with Predefine paths

Hi, I'm trying to develop a robot which has to know his position via an Indoor Location System (I'm trying to use FIND3) and also know how to reach other locations on the room p.e: I'm on the kitchen and go to the livingroom.

I'm thinking on use predefine paths to very location but seems a bit messy, how people usually solve this problem?

Pd: I plan to use Arduino and Raspberry, but I would like to not use both if I could

I'm thinking on use predefine paths to very location but seems a bit messy

Why? How do YOU get from the living room to the kitchen? Don't you use a predefined (but learned once) path?