---
title: "SD-05 | UC-05: Avoid All-Direction Obstacle"
---
sequenceDiagram
    participant CTR as :Controller
    participant MU as :MovementUnit

    CTR->>CTR: avoidAllDirectionObstacle()
    activate CTR

    CTR->>MU: stop()
    activate MU
    deactivate MU

    CTR->>MU: moveBackward()
    activate MU
    deactivate MU

    CTR->>MU: turn(freeDirection)
    activate MU
    deactivate MU

    CTR->>MU: moveForward()
    activate MU
    deactivate MU

    deactivate CTR
