A system configured to move a platform relative to a target object , the system comprising: the platform ; a drive vehicle configured to attach to the platform at a pivot point (P) and to move the platform relative to the target object ; one or more distance sensors to sense the target object ; one or more rotation angle sensors to measure a relative rotation angle between the drive vehicle and the platform ; and a processing circuit configured: to calculate one or more distances between the platform and the target object based on inputs from the one or more distance sensors ; based on dimensions of the platform , the position of the pivot point (P) on the platform , and inputs from the one or more distance sensors and the rotation angle sensors , to calculate heading angle limits and a first allowable zone defined therebetween, and to calculate a second allowable zone defined between opposite angles of the heading angle limits, wherein the drive vehicle can safely move the platform relative to the target object in order to avoid contact between the platform and the target object within said first and second allowable zones; to allow the drive vehicle to move in a first direction with a first relative heading angle that is within one of the allowable zones ; and to prevent the drive vehicle from moving in a second direction with a second relative heading angle that is outside of one of the allowable zones . the platform ; a drive vehicle configured to attach to the platform at a pivot point (P) and to move the platform relative to the target object ; one or more distance sensors to sense the target object ; one or more rotation angle sensors to measure a relative rotation angle between the drive vehicle and the platform ; and a processing circuit configured: to calculate one or more distances between the platform and the target object based on inputs from the one or more distance sensors ; based on dimensions of the platform , the position of the pivot point (P) on the platform , and inputs from the one or more distance sensors and the rotation angle sensors , to calculate heading angle limits and a first allowable zone defined therebetween, and to calculate a second allowable zone defined between opposite angles of the heading angle limits, wherein the drive vehicle can safely move the platform relative to the target object in order to avoid contact between the platform and the target object within said first and second allowable zones; to allow the drive vehicle to move in a first direction with a first relative heading angle that is within one of the allowable zones ; and to prevent the drive vehicle from moving in a second direction with a second relative heading angle that is outside of one of the allowable zones . to calculate one or more distances between the platform and the target object based on inputs from the one or more distance sensors ; based on dimensions of the platform , the position of the pivot point (P) on the platform , and inputs from the one or more distance sensors and the rotation angle sensors , to calculate heading angle limits and a first allowable zone defined therebetween, and to calculate a second allowable zone defined between opposite angles of the heading angle limits, wherein the drive vehicle can safely move the platform relative to the target object in order to avoid contact between the platform and the target object within said first and second allowable zones; to allow the drive vehicle to move in a first direction with a first relative heading angle that is within one of the allowable zones ; and to prevent the drive vehicle from moving in a second direction with a second relative heading angle that is outside of one of the allowable zones . <EOS>