A common problem with cleaning robots is their blocking under furniture (most often kitchen cabinets). If you want to avoid costly solutions in the form of installing additional sensors, the so-called virtual walls, you can try the following effective and inexpensive solution.
In places where the robot gets stuck, stick a cable guide (e.g. rubber or PVC) to the bottom of the cabinets. A properly installed cover will block the robot’s access to places where it could get stuck.