Abstract
The area of robot path planning and navigation has been studied by various researchers over the last decades, resulting in a large number of works. One of the most challenging fields in motion planning is dealing with unknown environment, which is known as online path planning. This paper aims to improve one of the most famous methods for online navigation, that is, Bug algorithm, which has been introduced by V. J. Lumelsky. An improved Bug algorithm was provided in our research and the simulation result for several cases shows its advantage in terms of path shortening. Also the justified Bug algorithm was compared with Bug algorithm and some of the well-known approaches in the field of robotic motion planning. Key words: Bug algorithm, robotic motion planning, path shortening, online path planning.
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