Well… sometimes, but I haven’t identified a pattern.
I guess my point was that it doesn’t cause any “confusion” or long routes when leaving or returning.
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But I’d rather have the robot take the long way, short way, middle way or whatever than always the same pathway and destroying the lawn like they suggest in their ticket reply…
Captain probably says “hey I need a route to the charging station” and the routing engine says “I can get you there but we go around the lake 3 times and go the wrong direction for 1/2 the trip. But we get there.”
Captain “Make it so.”
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On your map some pathways seem to be fairly short. Did you notice one or two pathways that are never used?
If only someone could create an algorithm to determine how to get from point A to point B. For example if I wanted to go from California to New York. It would be even better if it could calculate that in a few milliseconds. I bet that company could have a market capitalization over 2 trillion USD. 
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Now THAT is funny!
Maybe you could even tell it to take the fastest route, or shortest route, or the cheapest route!
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That is a good idea. I didnt consider there could be multiple options.
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Soooooo…
Suppose 3 zones. 8 pathways… Has to take pathways to cross zones. I used real RTK coordinates and ran a simple algo to look at all the combinations, rank them and then provide the top 5 distances and paths to take…
Here is the code to do it in python (in txt as .py extensions are not allowed), including the PATHFINDING ALGORITHMS function… In short you then only need to substitute the current mower position, dock position, pathways coordinate in section 2 (they probably have a table for that). Then it provides the shortest pathway…
I don’t see why this is “complex”. This is basic optimization stuff. And it takes less than a second to run.
path optimize.txt (14.3 KB)
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If only we could do pull requests. 
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And then from there you can sort the K fastest paths and then randomize among the fastest!
This could be wrapped into a function that is called when Yarbo needs to recharge. @Yarbo-Forum …
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Is Yarbo coded in Python? Does anyone know?
Low level hardware and logic navigation likely C/C++. So clearly this would need to be refactored in C++ for efficiency and to be able to run natively on the mower… I would be super surprised that they have a direct interpreter on the device… Although I make it look as “simple”, I totally understand that the code is likely super optimized to have a small footprint on the device…
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As an update, I split the yard in two. (Map above, but split down the middle). I added pathways across the driveway, the land bride between the house and shop and then another between the garage and rear property line. While Johnny 5 is now using all the pathways, the algorithm it uses to get from one side of the map to the other or to the charger leaves much to be desired.
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