A computer implemented method for automatically path planning for optimizing a path of a machinery moving in an area, the method comprising the steps of - considering at least the following parameters: - coordinates of an area-contour, - an operating width of the moving machinery, - a distance between the area-contour and a perimetric closed machinery path within the area-contour, - making a copy of the area-contour and geometrically translating this copy in parallel by the distance to an interior of the area, thereby obtaining an eroded area being smaller or equal than the area and an eroded area contour, - selecting an orientation of lanes within an interior of the eroded area contour, denoted as interior lanes, and thereby partitioning the eroded area into adjacent lanes, - intersecting the interior lanes with the eroded area contour, thereby generating a lane grid and a corresponding connected undirected transition graph (T field) of the area, performing a mathematical algorithm for determining a shortest possible path by considering at least the above mentioned parameters, the eroded area and the provided lane grid, thereby determining an optimized sequence of position coordinates on the lane grid wherein a complete area covering path is generated, characterized in that the mathematical algorithm uses as an input at least the connected undirected transition graph (T field) of the area, position coordinate information about all cross-points associated with the transition graph and orientation information of the interior lanes, wherein the mathematical algorithm creates an undirected transition graph (T M2) by copying the connected undirected transition graph (T field) after dismissal of any available edges referring to the eroded island area contours, wherein the mathematical algorithm makes this undirected transition graph (T M2) Eulerian by conducting a graph-augmentation in order to obtain an Eulerian graph (T M2 *), wherein the mathematical algorithm determines an Eulerian cycle applied on this Eulerian graph (T M2 *), the Eulerian cycle being described as a sequence of cross-points and wherein the mathematical algorithm computes a complete area covering path in terms of a concatenation of position coordinates associated with the Eulerian cycle thereby applying appropriate heuristics. - considering at least the following parameters: - coordinates of an area-contour, - an operating width of the moving machinery, - a distance between the area-contour and a perimetric closed machinery path within the area-contour, - coordinates of an area-contour, - an operating width of the moving machinery, - a distance between the area-contour and a perimetric closed machinery path within the area-contour, - making a copy of the area-contour and geometrically translating this copy in parallel by the distance to an interior of the area, thereby obtaining an eroded area being smaller or equal than the area and an eroded area contour, - selecting an orientation of lanes within an interior of the eroded area contour, denoted as interior lanes, and thereby partitioning the eroded area into adjacent lanes, - intersecting the interior lanes with the eroded area contour, thereby generating a lane grid and a corresponding connected undirected transition graph (T field) of the area,