diff --git a/src/modelec_strat/data/deposite_zone.xml b/src/modelec_strat/data/deposite_zone.xml
index 0c1cc75..04f9508 100644
--- a/src/modelec_strat/data/deposite_zone.xml
+++ b/src/modelec_strat/data/deposite_zone.xml
@@ -7,11 +7,11 @@
         </PotPos>
     </DepositeZone>
 
-    <DepositeZone id="101" team="0" max_pot="3">
+    <DepositeZone id="101" team="0" max_pot="2">
         <Pos x="1225" y="225" theta="1.5708" w="450" h="450" />
         <PotPos>
-            <Pos x="1225" y="75" theta="1.5708" />
-            <Pos x="1225" y="225" theta="1.5708" />
+            <!--<Pos x="1225" y="125" theta="1.5708" />-->
+            <Pos x="1225" y="200" theta="1.5708" />
             <Pos x="1225" y="400" theta="1.5708" />
         </PotPos>
     </DepositeZone>
@@ -40,11 +40,11 @@
         </PotPos>
     </DepositeZone>
 
-    <DepositeZone id="111" team="1" max_pot="3">
+    <DepositeZone id="111" team="1" max_pot="2">
         <Pos x="1775" y="225" theta="1.5708" w="450" h="450" />
         <PotPos>
-            <Pos x="1775" y="75" theta="1.5708" />
-            <Pos x="1775" y="225" theta="1.5708" />
+            <!--<Pos x="1775" y="75" theta="1.5708" />-->
+            <Pos x="1775" y="200" theta="1.5708" />
             <Pos x="1775" y="400" theta="1.5708" />
         </PotPos>
     </DepositeZone>
diff --git a/src/modelec_strat/src/missions/prepare_concert_mission.cpp b/src/modelec_strat/src/missions/prepare_concert_mission.cpp
index 9a28e9e..cf67d1f 100644
--- a/src/modelec_strat/src/missions/prepare_concert_mission.cpp
+++ b/src/modelec_strat/src/missions/prepare_concert_mission.cpp
@@ -90,7 +90,7 @@ namespace Modelec
         case GO_TO_COLUMN:
             {
                 auto pos = column_->GetOptimizedGetPos(nav_->GetCurrentPos()).GetTakeClosePosition();
-                nav_->GoTo(pos, true, Pathfinding::FREE | Pathfinding::WALL);
+                nav_->GoTo(pos, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
             }
 
             step_ = GO_CLOSE_TO_COLUMN;
@@ -184,7 +184,7 @@ namespace Modelec
         case GO_TO_PLATFORM:
             {
                 auto p = closestDepoZonePoint_.GetTakeClosePosition();
-                nav_->GoTo(p.x, p.y, p.theta, true);
+                nav_->GoTo(p.x, p.y, p.theta, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
             }
 
             step_ = GO_CLOSE_TO_PLATFORM;