A robotic mower boundary coverage system includes a vehicle control unit (101) on the robotic mower (100) commanding a traction drive system to drive the robotic mower (100) at a specified yaw angle with respect to a boundary wire (103, 104) a boundary sensor (119) on the robotic mower (100) signaling the distance between the boundary wire (103) and the vehicle control unit (101) the vehicle control unit (101) alternating commands to direct the traction drive system toward and away from the boundary wire (103, 104) based on the distance of the robotic mower (100) to the boundary wire (103, 104).
