diff --git a/README.md b/README.md
index b7a82c9..c01bc70 100644
--- a/README.md
+++ b/README.md
@@ -373,40 +373,52 @@ Submitted data can then be captured in the NPC's own 'on_receive_fields' callbac
 Note that form text fields, dropdown, list and checkbox selections are automatically
 stored in the NPC's metadata table. Image/Button clicks, however, are not.
 
-Control Framework
+Movement Framework
 ----
 ## Methods
-### npcf.control_framework.getControl(npc_ref)
 
-Constructor for the control object. Returns the reference.
+### mvobj = npcf.movement.getControl(npc_ref)
+
+Constructor for the movement control object. Returns the reference.
 Note, the framework will be activated for NPC on first usage.
 
-### control:stay()
+### mvobj:stay()
 Stop walking, stand up
 
-### control:look_to(pos)
+### mvobj:look_to(pos)
 Look (set yaw) to direction of position pos
 
-### control:sit()
+### mvobj:sit()
 Stop walking and sit down
 
-### control:lay()
+### mvobj:lay()
 Stop walking and lay down
 
-### control:mine()
+### mvobj:mine()
 Begin the mining / digging / attacking animation
 
-### control:mine_stop()
+### mvobj:mine_stop()
 Stop the mining / digging / attacking animation
 
-### control:walk(pos, speed, parameter)
+### mvobj:teleport(pos)
+Teleport the NPC to given position
+
+### mvobj:walk(pos, speed, parameter)
 Find the way and walk to position pos with given speed.
 For parameter check the set_walk_parameter documentation
 
-###control_proto:stop()
+###mvobj:stop()
 Stay and forgot about the destination
 
-### control:set_walk_parameter(parameter)
+
+###mvobj:get_path(pos)
+Calculate the path. Is used internally in mvobj:walk
+
+###mvobj:check_for_stuck()
+Check if the NPC is stuck. Teleport or stay in this case.
+This method is called in framework each step so there is no need to call it by self
+
+### mvobj:set_walk_parameter(parameter)
 key-value table to change the walking path determination parameter
 
   - find_path
@@ -431,7 +443,7 @@ key-value table to change the walking path determination parameter
     false: forgot about the destination in case of stuck
 
 ## Attributes (should be used read-only)
-control.is_mining	- mining animation is active
-control.speed		- walking speed
-control.real_speed	- The "real" speed calculated on velocity
-target_pos - Position vector that the NPC try to reach
+mvobj.is_mining	- mining animation is active
+mvobj.speed		- walking speed
+mvobj.real_speed	- The "real" speed calculated on velocity
+mvobj.target_pos - Position vector that the NPC try to reach
diff --git a/npcf/movement.lua b/npcf/movement.lua
new file mode 100644
index 0000000..645da8c
--- /dev/null
+++ b/npcf/movement.lua
@@ -0,0 +1,332 @@
+-- NPC framework navigation control object prototype
+local mvobj_proto = {
+		is_mining = false,
+		speed = 0,
+		target_pos = nil,
+		_path = nil,
+		_npc = nil,
+		_state = NPCF_ANIM_STAND,
+		_step_timer = 0,
+		walk_param = {
+			find_path = true,
+			find_path_fallback = true,
+			find_path_max_distance = 20,
+			fuzzy_destination = true,
+			fuzzy_destination_distance = 5,
+			teleport_on_stuck = false,
+		}
+}
+
+-- navigation control framework
+local movement = {
+	mvobj_proto = mvobj_proto,
+	functions = {},
+	getControl = function(npc)
+		local mvobj
+		if npc._mvobj then
+			mvobj = npc._mvobj
+		else
+			mvobj = npcf.deepcopy(mvobj_proto)
+			mvobj._npc = npc
+			npc._mvobj = mvobj
+		end
+		if npc.object and mvobj._step_init_done ~= true then
+			mvobj.pos = npc.object:getpos()
+			mvobj.yaw = npc.object:getyaw()
+			mvobj.velocity = npc.object:getvelocity()
+			mvobj.acceleration = npc.object:getacceleration()
+			mvobj._step_init_done = true
+		end
+		return mvobj
+	end
+}
+local functions = movement.functions
+
+
+-- Stop walking and stand up
+function mvobj_proto:stay()
+	self.speed = 0
+	self._state = NPCF_ANIM_STAND
+end
+
+-- Stay and forgot about the way
+function mvobj_proto:stop()
+	self:stay()
+	self._path = nil
+	self._target_pos_bak = nil
+	self.target_pos = nil
+	self._last_distance = nil
+end
+
+--  look to position
+function mvobj_proto:look_to(pos)
+	self.yaw = npcf:get_face_direction(self.pos, pos)
+end
+
+-- Stop walking and sitting down
+function mvobj_proto:sit()
+	self.speed = 0
+	self.is_mining = false
+	self._state = NPCF_ANIM_SIT
+end
+
+-- Stop walking and lay
+function mvobj_proto:lay()
+	self.speed = 0
+	self.is_mining = false
+	self._state = NPCF_ANIM_LAY
+end
+
+-- Start mining
+function mvobj_proto:mine()
+	self.is_mining = true
+end
+
+-- Stop mining
+function mvobj_proto:mine_stop()
+	self.is_mining = false
+end
+
+--  teleport to position
+function mvobj_proto:teleport(pos)
+	self.pos = pos
+	self._npc.object:setpos(pos)
+	self:stay()
+end
+
+-- Change default parameters for walking
+function mvobj_proto:set_walk_parameter(param)
+	for k,v in pairs(param) do
+		self.walk_param[k] = v
+	end
+end
+
+-- start walking to pos
+function mvobj_proto:walk(pos, speed, param)
+	if param then
+		self:set_walk_parameter(param)
+	end
+	self._target_pos_bak = self.target_pos
+	self.target_pos = pos
+	self.speed = speed
+	if self.walk_param.find_path == true then
+		self._path = self:get_path(pos)
+	else
+		self._path = { pos }
+		self._path_used = false
+	end
+
+	if self._path == nil then
+		self:stop()
+		self:look_to(pos)
+	else
+		self._walk_started = true
+	end
+end
+
+-- do a walking step
+function mvobj_proto:_do_movement_step(dtime)
+	-- step timing / initialization check
+	self._step_timer = self._step_timer + dtime
+	if self._step_timer < 0.1 then
+		return
+	end
+	self._step_timer = 0
+	movement.getControl(self._npc)
+	self._step_init_done = false
+
+	self:check_for_stuck()
+
+	-- check path
+	if self.speed > 0 then
+		if not self._path or not self._path[1] then
+			self:stop()
+		else
+			local a = table.copy(self.pos)
+			a.y = 0
+			local b = {x=self._path[1].x, y=0 ,z=self._path[1].z}
+			--print(minetest.pos_to_string(self.pos), minetest.pos_to_string(self._path[1]), vector.distance(a, b),minetest.pos_to_string(self._npc.object:getpos()))
+			--if self._path[2] then print(minetest.pos_to_string(self._path[2])) end
+
+			if vector.distance(a, b) < 0.4
+					or (self._path[2] and vector.distance(self.pos, self._path[2]) < vector.distance(self._path[1], self._path[2])) then
+				if self._path[2] then
+					table.remove(self._path, 1)
+					self._walk_started = true
+				else
+					self:stop()
+				end
+			end
+		end
+	end
+	-- check/set yaw
+	if self._path and self._path[1] then
+		self.yaw = npcf:get_face_direction(self.pos, self._path[1])
+	end
+	self._npc.object:setyaw(self.yaw)
+
+	-- check/set animation
+	if self.is_mining then
+		if self.speed == 0 then
+			self._state = NPCF_ANIM_MINE
+		else
+			self._state = NPCF_ANIM_WALK_MINE
+		end
+	else
+		if self.speed == 0 then
+			if self._state ~= NPCF_ANIM_SIT and
+					self._state ~= NPCF_ANIM_LAY then
+				self._state = NPCF_ANIM_STAND
+			end
+		else
+			self._state = NPCF_ANIM_WALK
+		end
+	end
+	npcf:set_animation(self._npc, self._state)
+
+	-- check for current environment
+	local nodepos = table.copy(self.pos)
+	local node = {}
+	nodepos.y = nodepos.y - 0.5
+	for i = -1, 1 do
+		node[i] = minetest.get_node(nodepos)
+		nodepos.y = nodepos.y + 1
+	end
+	if string.find(node[-1].name, "^default:water") then
+		self.acceleration = {x=0, y=-4, z=0}
+		self._npc.object:setacceleration(self.acceleration)
+		-- we are walking in water
+		if string.find(node[0].name, "^default:water") or
+		   string.find(node[1].name, "^default:water") then
+			-- we are under water. sink if target bellow the current position. otherwise swim up
+			if not self._path[1] or self._path[1].y > self.pos.y then
+				self.velocity.y = 3
+			end
+		end
+	elseif minetest.find_node_near(self.pos, 2, {"group:water"}) then
+		-- Light-footed near water
+		self.acceleration = {x=0, y=-1, z=0}
+		self._npc.object:setacceleration(self.acceleration)
+	elseif minetest.registered_nodes[node[-1].name].walkable ~= false and 
+			minetest.registered_nodes[node[0].name].walkable ~= false then
+		-- jump if in catched in walkable node
+		self.velocity.y = 3
+	else
+		-- walking
+		self.acceleration = {x=0, y=-10, z=0}
+		self._npc.object:setacceleration(self.acceleration)
+	end
+
+	--check/set velocity
+	self.velocity = npcf:get_walk_velocity(self.speed, self.velocity.y, self.yaw)
+	self._npc.object:setvelocity(self.velocity)
+end
+
+
+function mvobj_proto:get_path(pos)
+	local startpos = vector.round(self.pos)
+	startpos.y = startpos.y - 1 -- NPC is to high
+	local refpos
+	if vector.distance(self.pos, pos) > self.walk_param.find_path_max_distance then
+		refpos = vector.add(self.pos, vector.multiply(vector.direction(self.pos, pos), self.walk_param.find_path_max_distance))
+	else
+		refpos = pos
+	end
+
+	local destpos
+	if self.walk_param.fuzzy_destination == true then
+		destpos = functions.get_walkable_pos(refpos, self.walk_param.fuzzy_destination_distance)
+	end
+	if not destpos then
+		destpos = self.pos
+	end
+	local path = minetest.find_path(startpos, destpos, 10, 1, 5, "Dijkstra")
+
+	if not path and self.walk_param.find_path_fallback == true then
+		path = { destpos, pos }
+		self._path_used = false
+		--print("fallback path to "..minetest.pos_to_string(pos))
+	elseif path then
+		--print("calculated path to "..minetest.pos_to_string(destpos).."for destination"..minetest.pos_to_string(pos))
+		self._path_used = true
+		table.insert(path, pos)
+	end
+	return path
+end
+
+function mvobj_proto:check_for_stuck()
+
+-- high difference stuck
+	if self.walk_param.teleport_on_stuck == true and self.target_pos then
+		local teleport_dest
+		-- Big jump / teleport up- or downsite
+		if	math.abs(self.pos.x - self.target_pos.x) <= 1 and
+				math.abs(self.pos.z - self.target_pos.z) <= 1 and
+				vector.distance(self.pos, self.target_pos) > 3 then
+			teleport_dest = table.copy(self.target_pos)
+			teleport_dest.y = teleport_dest.y + 1.5 -- teleport over the destination
+			--print("big-jump teleport to "..minetest.pos_to_string(teleport_dest).." for target "..minetest.pos_to_string(self.target_pos))
+			self:teleport(teleport_dest)
+		end
+	end
+
+	-- stuck check by distance and speed
+	if (self._target_pos_bak and self.target_pos and self.speed > 0 and
+			 self._path_used ~= true and self._last_distance and
+			self._target_pos_bak.x == self.target_pos.x and
+			self._target_pos_bak.y == self.target_pos.y and
+			self._target_pos_bak.z == self.target_pos.z and
+			self._last_distance -0.01 <= vector.distance(self.pos, self.target_pos)) or
+			( self._walk_started ~= true and self.speed > 0 and
+			math.sqrt( math.pow(self.velocity.x,2) + math.pow(self.velocity.z,2)) < (self.speed/3)) then
+		--print("Stuck")
+		if self.walk_param.teleport_on_stuck == true then
+			local teleport_dest
+			if vector.distance(self.pos, self.target_pos)  > 5 then
+				teleport_dest = vector.add(self.pos, vector.multiply(vector.direction(self.pos, self.target_pos), 5)) -- 5 nodes teleport step
+			else
+				teleport_dest = table.copy(self.target_pos)
+				teleport_dest.y = teleport_dest.y + 1.5 -- teleport over the destination
+			end
+			self:teleport(teleport_dest)
+		else
+			self:stay()
+		end
+	elseif self.target_pos then
+		self._last_distance = vector.distance(self.pos, self.target_pos)
+	end
+	self._walk_started = false
+end
+
+---------------------------------------------------------------
+-- define framework functions internally used
+---------------------------------------------------------------
+function functions.get_walkable_pos(pos, dist)
+	local destpos
+	local rpos = vector.round(pos)
+	for y = rpos.y+dist-1, rpos.y-dist-1, -1 do
+		for x = rpos.x-dist, rpos.x+dist do
+			for z = rpos.z-dist, rpos.z+dist do
+				local p = {x=x, y=y, z=z}
+				local node = minetest.get_node(p)
+				local nodedef = minetest.registered_nodes[node.name]
+				if not (node.name == "air" or nodedef and (nodedef.walkable == false or nodedef.drawtype == "airlike")) then
+					p.y = p.y +1
+					local node = minetest.get_node(p)
+					local nodedef = minetest.registered_nodes[node.name]
+					if node.name == "air" or nodedef and (nodedef.walkable == false or nodedef.drawtype == "airlike") then
+						if destpos == nil or vector.distance(p, pos) < vector.distance(destpos, pos) then
+							destpos = p
+						end
+					end
+				end
+			end
+		end
+	end
+	return destpos
+end
+
+---------------------------------------------------------------
+-- Return the framework to calling function
+---------------------------------------------------------------
+return movement
diff --git a/npcf/npcf.lua b/npcf/npcf.lua
index 4c8829c..f80bc1c 100644
--- a/npcf/npcf.lua
+++ b/npcf/npcf.lua
@@ -73,8 +73,8 @@ npcf = {
 		animation_state = 0,
 		animation_speed = 30,
 	},
-	-- control functions
-	control_framework = dofile(NPCF_MODPATH.."/control.lua"),
+	-- movement control functions
+	movement = dofile(NPCF_MODPATH.."/movement.lua"),
 	deepcopy = deepcopy
 }
 
@@ -242,8 +242,8 @@ function npcf:register_npc(name, def)
 				if type(def.on_step) == "function" then
 					self.timer = self.timer + dtime
 					def.on_step(self, dtime)
-					if self._control then
-						self._control:_do_control_step(dtime)
+					if self._mvobj then
+						self._mvobj:_do_movement_step(dtime)
 					end
 				end
 			else
diff --git a/npcf_guard/init.lua b/npcf_guard/init.lua
index 400812f..46852d1 100644
--- a/npcf_guard/init.lua
+++ b/npcf_guard/init.lua
@@ -102,11 +102,11 @@ npcf:register_npc("npcf_guard:npc", {
 	end,
 	on_step = function(self, dtime)
 		if self.timer > 1 then
-			local control = npcf.control_framework.getControl(self)
-			local pos = control.pos
+			local move_obj = npcf.movement.getControl(self)
+			local pos = move_obj.pos
 			local target = {object=nil, distance=0}
 			local min_dist = 1000
-			control:mine_stop()
+			move_obj:mine_stop()
 			for _,object in ipairs(minetest.get_objects_inside_radius(pos, TARGET_RADIUS)) do
 				local to_target = false
 				if object:is_player() then
@@ -144,9 +144,9 @@ npcf:register_npc("npcf_guard:npc", {
 			end
 			if target.object then
 				if target.distance < 3 then
-					control:mine()
-					control:stay()
-					control:look_to(target.object:getpos())
+					move_obj:mine()
+					move_obj:stay()
+					move_obj:look_to(target.object:getpos())
 					local tool_caps = {full_punch_interval=1.0, damage_groups={fleshy=1}}
 					local item = self.metadata.wielditem
 					if item ~= "" and minetest.registered_items[item] then
@@ -158,7 +158,7 @@ npcf:register_npc("npcf_guard:npc", {
 				end
 				if target.distance > 2 then
 					local speed = get_speed(target.distance) * 1.1
-					control:walk(target.object:getpos(), speed)
+					move_obj:walk(target.object:getpos(), speed)
 				end
 			elseif self.metadata.follow_owner == "true" then
 				local player = minetest.get_player_by_name(self.owner)
@@ -166,11 +166,11 @@ npcf:register_npc("npcf_guard:npc", {
 					local p = player:getpos()
 					local distance = vector.distance(pos, {x=p.x, y=pos.y, z=p.z})
 					if distance > 3 then
-						control:walk(p, get_speed(distance))
+						move_obj:walk(p, get_speed(distance))
 					else
-						control:stay()
+						move_obj:stay()
 					end
-					control:mine_stop()
+					move_obj:mine_stop()
 				end
 			elseif self.metadata.patrol == "true" then
 				self.var.rest_timer = self.var.rest_timer + self.timer
@@ -183,10 +183,9 @@ npcf:register_npc("npcf_guard:npc", {
 					if patrol_pos then
 						local distance = vector.distance(pos, patrol_pos)
 						if distance > 1 then
-							control:walk(patrol_pos, PATROL_SPEED)
+							move_obj:walk(patrol_pos, PATROL_SPEED)
 						else
-							self.object:setpos(patrol_pos)
-							control:stay()
+							move_obj:teleport(patrol_pos)
 							self.metadata.patrol_index = index
 							self.var.rest_timer = 0
 						end
@@ -195,11 +194,11 @@ npcf:register_npc("npcf_guard:npc", {
 			elseif vector.equals(pos, self.origin.pos) == false then
 				local distance = vector.distance(pos, self.origin.pos)
 				if distance > 1 then
-					control:walk(self.origin.pos, get_speed(distance))
+					move_obj:walk(self.origin.pos, get_speed(distance))
 				else
-					self.object:setpos(self.origin.pos)
-					control.look_to(self.origin.pos)
-					control:stay()
+					move_obj:teleport(self.origin.pos)
+					move_obj:stay()
+					move_obj.yaw = self.origin.yaw
 				end
 			end
 			self.timer = 0