The new online motion planner developed in this article is based on the tabu search metaheuristic. Various components of the classic TS have been remodelled and integrated in a single algorithm to craft a motion planner capable of solving varieties of exploration and goal-finding problems. By employing different combinations of a number of parameters, the planner can react intelligently and promptly to the new situations it faces during the robotic navigation. The presented explanations on the parameters' definitions and attributes can help researchers in applying this algorithm to their real-world experiments and applications. Considering the online and sensor-based nature of the presented model, it is believed that it can be applied to dynamic environments as well.