Algorithm: Open space detection for top right quadrant. Input: LIDAR sensor distance array Output: Boolean determining if the top right quadrant is a viable free space scanDistance Desired distance threshold topRight laser_ranges[270:344] maxr max value of topRight quadrant range indexr index of topRight maxr value success 0 topRightFree False if maxr > scanDistance #If an object is greater than distance threshold success + 1 for each index in topRight if each index > scanDistance success += 1 else > break if success = desired success value (width of robot in LİDAR angles) success 0 topRightFree True else success 0 topRightFree F False return topRightFree

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