The tangent bug algorithm is actually the imroved version of Bug1 and Bug2 algorithms. Unlike these methods, tangent bug algorithm depends on the existence of a range sensor that is mounted on the point robot in the map. By only investigating the output ot this range sensor, and including the knowledge of the robot's current pose and goal's pose, the robot plans actions to reach to the goal.

This web page consists of information about the tangent bug algorithm and its implementation.