diff --git a/robot.go b/robot.go
index d547ddd..1726ec7 100644
--- a/robot.go
+++ b/robot.go
@@ -191,9 +191,15 @@ func (r *Robot) checkCollisions(g *game, move_vector v.Vector2d) (bool, v.Point2
 
 	// Check Obstacles
 	for _, obj := range g.obstacles {
-		collision, _, pos := v.RectIntersection(obj.Bounds, r.Position, move_vector)
-		if collision {
-			return collision, pos, nil
+		bot_polygon := v.OrientedSquare(r.Position, r.Heading, 5)
+		collision, move_collition, translation := v.PolyPolyIntersection(
+			bot_polygon, move_vector, obj.Bounds.ToPolygon())
+
+		if collision || move_collition {
+			log.Printf(" COLLISION: %v %v %v\n", collision, move_collition, translation)
+			log.Printf(" DETAILS: %v %v\n", r.Position, move_vector)
+			log.Printf(" INPUT: %v %v %v\n", bot_polygon, obj.Bounds.ToPolygon(), obj.Bounds)
+			return (collision || move_collition), r.Position.Add(move_vector).Add(translation.Scale(1.2)), nil
 		}
 	}
 
@@ -263,10 +269,13 @@ func (r *Robot) Tick(g *game) {
 				hit_robot.Speed = (hit_robot.Speed * 0.1)
 				hit_robot.Heading = r.Heading
 			}
-			move_by := intersection_point.Sub(r.Position)
-			move_dist := move_by.Scale(float32(math.Floor(float64(move_by.Mag()-3.0))) / move_by.Mag())
 
-			r.Position = r.Position.Add(move_dist)
+			if r.Position != intersection_point {
+				move_by := intersection_point.Sub(r.Position)
+				// move_dist := move_by.Scale(float32(math.Floor(float64(move_by.Mag()-3.0))) / move_by.Mag())
+				r.Position = r.Position.Add(move_by)
+			}
+
 			r.Health -= int(r.Speed / 10.0)
 			r.MoveTo = &r.Position
 			r.Speed = (r.Speed * 0.1)