A steering control arrangement (1) for a self-propelled robotic tool (3) is disclosed. The steering control arrangement (1) is configured to obtain a current fall line direction (fl) at the position of the robotic tool (3) and steer the robotic tool (3) based on a target angle (b) between the heading direction (hd) of the robotic tool (3) and the current fall line direction (fl). The present disclosure further relates to a self-propelled robotic tool (3), a self-propelled robotic lawnmower(3), a method (100) of steering a self-propelled robotic tool (3), a computer program, and a computer-readable medium (200).
