Description: If the robot is "stuck" (for example close to the wall) it will try to navigate backwards/sideways first before reporting it to be stuck. Robot has 2 zones around it: slow move zone and stop zone. Sometimes it may happen that robot will be too close to the obstacle. For example when a human will come and stand in front of the robot. Traditionally robot should just stop. But robot can make a step back if there is nothing behind it and walk around. In our case robot will check if it can move in the opposite direction to free itself.