Vacuum gets confused or lost

The third time around the house the vacuum got confused and went around and under a chair. Would not complete the house. Just kept going around and under the wifes chair. Eventually we blocked off around the chair and the unit finally continued on but did not complete the room. Said done and went back to the base. I am on 1.6.97.

Try upgrading to the newest Beta, and see if that fixes it. Ive seen good results with that on mapping and overall detection of stuff…