Does it stop or does it stop and turn to go around the object? I would clean off the sensor. I know mine gets dusty.
I say this to everyone, you must clean out any vacuum, especially the Roomba often. My Roomba gets hair and thread wrapped around every moving part. Turn it on it's back, open the two catches on the right and left. Remove the two spinning bars. get all the hair out of every place you see it, yes even wrapped into the "axles" on each end. Also the ball white/black wheel at the front has to be pried out and the hair removed from this axle. Otherwise it can't turn as easily.
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