Dynamic path planning algorithm for autonomous mobile robot with a minimum number of turns in unknown environment

The article is devoted to the problem of reactive navigation a mobile robot with limited information about environment. An algorithm for finding path from source target minimum number turns described. idea based on bug family algorithms navigation. remembers boundaries obstacles and calculates angle rotation depending surrounding situation. difference that does not move “along obstacle”, but only in cases. results testing simulated polygons are presented. Models fallen trees, stumps swamps were considered as obstacles. performance evaluated by comparing possible obtained using algorithm.