Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot

Pseudocode 1

Staircase Recognition.

Automatic Staircase Recognition Algorithm in sTetro:

Capture reference scan ();         // by placing robot in front of stairs such that lidar rays

//are perpendicular to the stairs.

OutLierFilter();               // apply OutLierFilter() to reject any superiors points.

Save ;

While (Euclidean Norm is Not Min.)

      TURN in-place;            // rotate CCW

      Capture measured scan ();

      OutLierFilter();

         ← CalcEuclideanNorm();  //calculate Euclidean Norm between ref. scan and

      //measured scan.

      Store ;

      If ()

     Continue TURN in-place;       // continue rotating till Euclidean dist. is min.

      end if

endWhile

STOP Turning.