In complex environments, the sole reactive navigation algorithm is easily to be trapped in a loop, which is called
the local minima problem. Therefore, an autonomous navigation algorithm based on sub-goal and tabu search algorithm is
presented. Aiming at the critical vertex in the visible area as searching neighborhood, the optimization sub-goal is obtained
by using the tabu search algorithm. Then the mobile robot tracks the sub-goal by means of reactive navigation and finally
reaches the goal by updating the sub-goal positions gradually. The algorithm can overcome the local minima obviously
and enhance the navigation ability of the robot in complex environments. Theory analysis and simulation results show the
effectiveness and feasibility of the algorithm.