Our masters project is the design and construction of a home care mobile robot. The robot must navigate up to the head of a fallen person (having detected a fall) and then begin interaction in order to determine the state of the individual. Currently, path planning is being implemented with an A* algorithm in tandem with a lidar turret in order to provide collision avoidance. A MATLAB script is being run in order to detect the face of the fallen person, I would like to combine these separate subsystems such that when the face is detected, this becomes the new target in the path planning script. My idea is to use the bounding box drawn by the face detection script as a target. I'm looking for advice on how to instruct the robot to rotate in order to make the bounding box in the centre of it's vision frame, and then proceed forward in order to reach the fallen person's head.