Method for generating a representation of a working area of an autonomous lawn mower and autonomous lawn mower system

A method for generating a representation of a working area of an autonomous lawn mower, the method comprising the steps of:

• positioning the autonomous lawn mower in a home position at a base station;
• leaving the home position and determining that the home position has been left;
• following a boundary wire until the base station is reached again;
• recording measured values from movement sensors of the autonomous lawn mower while moving;
• maneuvering the autonomous lawn mower into the home position and determining that the home position in the base station is reached again on the basis of an interaction between the base station and the autonomous lawn mower;
• generating a trajectory of the autonomous lawn mower on the basis of the recorded measured values, the trajectory being defined by positions and corresponding orientations of the autonomous lawn mower;
• correcting the positions and corresponding orientations by a position error and an orientation error respectively in two successive computational steps, wherein correction of orientations along the trajectory is performed before correction of the positions along the trajectory is performed on positions calculated on the basis of the corrected orientations, and
• wherein correction is performed by weighting each orientation and position according to some criteria, including orientation changes, acceleration or a combination of multiple criteria;
• storing the corrected trajectory as the representation of the working area.