Modified TangentBug Navigation Algorithm with Application to Car-like Robots

Autonomous navigation in unknown environments is a challenging task. Several sensor-based methods like the Bug algorithms have been proposed to tackle the problem. But most Bug-type algorithms neglect practical implementation issues like robot dimensions and maneuver limitations. This paper presents a modified version of TangentBug algorithm especially designed for car-like robots. The method proposes a revised heuristic distance for more stable robot motion-to-goal behaviour. Also the boundary following is modified to suit the limited steering of car-like robots. Simulation results show that the modified TangentBug is applicable to car-like robots with acceptable performance.