Methods, control systems and lawn mowers to mow a predefined area

A control system (120) for controlling a lawn mower (110) to mow a predefined area (200), the mowing width of the lawn mower (110) is X1, the control system (120) comprises a processing circuitry (903) and a memory (904), the memory (904) containing instructions executable by the processing circuitry (903), whereby the control system (120) is operative for:

• instructing the lawn mower (110) to move substantially straight forward in a first direction (610) for a first distance (510);
• instructing the lawn mower (110) to turn a first angle (560) in relation to the first direction (610);
• instructing the lawn mower (110) to move substantially straight forward in a second direction (620) for a second distance (520), such that the lawn mower (110) moves through N*X1 in the direction perpendicular to the first direction (610);
• instructing the lawn mower (110) to turn a second angle (570) in relation to the second direction (620), such that the first angle (560) and the second angle (570) in total substantially equals to 180°;
• instructing the lawn mower (110) to move substantially straight forward in a third direction (630) for the first distance (510);
• instructing the lawn mower (110) to turn a third angle (580) in relation to the third direction (630);
• instructing the lawn mower (110) to move substantially straight forward in a fourth direction (640) for a third distance (530), such that the lawn mower (110) moves through (N−1)*X1 plus an offset in the direction perpendicular to the first direction (610), the offset is less than X1;
• instructing the lawn mower (110) to turn a fourth angle (590) in relation to the fourth direction (640), so that the lawn mower (110) is in the first direction (610) after turning.