This paper is dedicated to the development and study of a potential control strategy for a mobile robot operating in a partially known dynamic environment, based on a modified bug algorithm. Improvements to both the modified bug algorithm and the potential control strategy are proposed. The modified bug algorithm is used to generate a reference path for the mobile robot. The potential control strategy, which combines the modified bug algorithm, the artificial potential field method, and proactive control, is employed to correct the reference path. The developed algorithm was tested in the CoppeliaSim simulator using Python scripts.