---
title: "SSD-03 | UC-03: Avoid Front Obstacle"
---
sequenceDiagram
    actor RVC as RVC System
    participant SYS as :RVC Controller SW

    RVC->>SYS: avoidFrontObstacle()
    activate SYS

    SYS->>SYS: stopMovement()
    SYS->>SYS: checkSideObstacles()

    alt LEFT or RIGHT is free
        SYS->>SYS: turnToFreeDirection()
        SYS->>SYS: moveForward()
    else Both LEFT and RIGHT blocked
        SYS-->>RVC: escalateToAllDirectionAvoid()
    end

    deactivate SYS
