---
title: "SSD-05 | UC-05: Avoid All-Direction Obstacle"
---
sequenceDiagram
    actor RVC as RVC System
    participant SYS as :RVC Controller SW

    RVC->>SYS: avoidAllDirectionObstacle()
    activate SYS

    SYS->>SYS: stopMovement()
    SYS->>SYS: moveBackward()
    SYS->>SYS: turnToFreeDirection()
    SYS->>SYS: moveForward()

    deactivate SYS
