How can I place a biped to have a nav point on it and go to a teleporter and teleport to base?
(For Single player map)

Not sure if this differs between multiplayer or single player maps. In sapien (in the hierarchy view) go to Mission->AI->command lists and create a new instance. Expand the newly created command list and then click commands and create a new instance there too. Click that command and in the properties window you will see something that says "atom type." Use that box to select commands.

The ones you are looking for would be: "go to" and "teleport"

You may have to click points and create a point so that you can tell the AI to go to that point. Assign the command list to whichever AI you want in the AI properties.

Command lists are so inefficient and unpredictable, but the only alternative is to script. If you have no experience in scripting, this is what you should try. However, if you're willing to script, the command to teleport an object is:

(object_teleport [object] [flag])

I know this but how can I make the biped go to a flag or somewhere?