diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/circle.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/circle.hpp
index 938baf4ec7b..ec04974ee52 100644
--- a/nav2_collision_monitor/include/nav2_collision_monitor/circle.hpp
+++ b/nav2_collision_monitor/include/nav2_collision_monitor/circle.hpp
@@ -22,7 +22,7 @@ namespace nav2_collision_monitor
 
 /**
  * @brief Circle shape implementaiton.
- * For STOP/SLOWDOWN model it represents safety area around the robot
+ * For STOP/SLOWDOWN model it represents zone around the robot
  * while for APPROACH model it represents robot footprint.
  */
 class Circle : public Polygon
diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp
index ed1a5b28247..91a95a1251b 100644
--- a/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp
+++ b/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp
@@ -36,7 +36,7 @@ namespace nav2_collision_monitor
 
 /**
  * @brief Basic polygon shape class.
- * For STOP/SLOWDOWN model it represents safety area around the robot
+ * For STOP/SLOWDOWN model it represents zone around the robot
  * while for APPROACH model it represents robot footprint.
  */
 class Polygon
diff --git a/nav2_collision_monitor/params/collision_monitor_params.yaml b/nav2_collision_monitor/params/collision_monitor_params.yaml
index cd14e9f17f5..f0fb4ef5dde 100644
--- a/nav2_collision_monitor/params/collision_monitor_params.yaml
+++ b/nav2_collision_monitor/params/collision_monitor_params.yaml
@@ -8,7 +8,7 @@ collision_monitor:
     transform_tolerance: 0.5
     source_timeout: 5.0
     stop_pub_timeout: 2.0
-    # Polygons represent safety area around the robot for "stop" and "slowdown" action types,
+    # Polygons represent zone around the robot for "stop" and "slowdown" action types,
     # and robot footprint for "approach" action type.
     # Footprint could be "polygon" type with dynamically set footprint from footprint_topic
     # or "circle" type with static footprint set by radius. "footprint_topic" parameter