Volume & Issue: Volume 21, Issue 4 - Serial Number 82, February 2026 (Winter) 
Real-Time Tangent Based Path Planning for Autonomous Robots in Convex Obstacle Environments

10.47176/MAJ.2025.1520

Hesamedin Moedi; Mahdi Mozaffari; Abolfazl Manafi; Fatemeh Mahdavi G.; Saeed Shamaghdari