Research Article
Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot
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. |
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