Methods and systems for automated robotic movement

A computing device program product for automated robotic movement for a robotic device using an electronic computing device, the computing device program product comprising:

• a non-transitory computer readable medium;
• first programmatic instructions for causing the electronic computing device to establish a portion of a work area as a working zone;
• second programmatic instructions for measuring distances to all obstacles in the working zone thereby detecting all obstacles in the working zone;
• in a third step, wherein more than a predefined number of obstacles are detected within predefined minimum distance of the robotic device and which obstacles are a preset number of degrees apart from one another, third programmatic instructions for establishing a coverage path that accounts for all detected obstacles, wherein the third programmatic instructions for establishing the coverage path that accounts for any detected obstacles further comprises:
• calculating a center-return path defined by a plurality of substantially collision-free point-to-point paths comprised of a maximum turning angle and a plurality of straight lines each having a measured length with respect to the detected obstacles, and wherein executing the coverage path proceeds from a shortest to a longest of the plurality of straight lines wherein a minimum number of straight lines are shorter than a predefined requirement;
• and
• fourth programmatic instructions for driving the robotic device along the coverage path such that the robotic device covers substantially all of the working zone at least once.