Algorithm 1. Avoid Obstacles Pseudocode.

AvoidingObstacleAngle = 0;

Check the distance measurements of 18 different laser points (6 for left, 6 for front, and 6 for right) that imply a high probability of CornerDetected either in front, left or right;

if CornerDetected then

AvoidingObstacleAngle = an orthogonal angle towards the detected corner side;

else

Find nearest obstacle location and distance within laser scanner data;

if Nearest Obstacle Distance < Aware of Obstacles Distance then

if Nearest Obstacle Distance is too close then

do a fixed backwards translation to preserve the robot's integrity;

else

AvoidingObstacleAngle = an orthogonal angle towards the nearest obstacle location;

end

else

if Any Kins' Distance < Aware of Kin Distance then

With 30% chance, do a fixed translation to preserve the robot's integrity;

With 70% chance, AvoidingObstacleAngle = an orthogonal angle towards the nearby kin's location;

else

Do nothing;

end

end

end

return AvoidingObstacleAngle;