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We present DistBug, a new navigation algorithm for mobile robots which exploits range data. The algorithm belongs to the Bug family, which combines local planning with global information that guarantees convergence. Most Bug-type algorithms use contact sensors and consist of two reactive modes of motion: moving toward the target between obstacles and following obstacle boundaries. DistBug uses range data in a new "leaving condition" which allows the robot to abandon obstacle boundaries as soondoi:10.1109/70.650160 fatcat:chg4mdmanbbwdayprfnzo45qtu