In a recording posted on his Twitter account, he said: "Venezuelan brothers and sisters, the moment you hear this message I will be on my way back home."

He also called on Venezuelans to join anti-government protests planned for Monday and Tuesday.

Mr Guaidó has called on President Nicolás Maduro to resign.

The two men have been at loggerheads for more than a month. While Mr Guaidó has been recognised by more than 50 countries, Mr Maduro, who is backed by China, Russia and Cuba, insists he is the only legitimate president.

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