Add doors to zones
My robot sometimes gets stuck inside the bathroom when trying to head back home after finishing the cleaning . This happens because it tries to get out by using the wall (see red area in the map). I guess the minor overlap with another zone causes confusion. A bit unclear to me why it gets in from one place (the door) but tries to get out by another place.
I guess if we would be able to add an entrance/exit zone area (see arrows in the map) the robot will always find the way out and also save some time when going from one to another zone. I noticed sometimes the robot 'thinks' too much trying to find a way out and ending up bumping in walls.