What you have is called warping, so for more informations search for warping.
This depends on material. Slicers have a feature called brim that adds more filament next to your print for first layer, so it helps preventing warping. Later on it can be taken off quite easily because it is so thin.
You could make a heated chamber which also helps - or use material that warps less or a bed that sticks better e.g. with special glues for abs prints.