Method for determining a path for a moveable object in a physical area comprising at least a first reference location and a second reference location, attributed with an orientation information, the method based on at least the first reference location and the second reference location, wherein the first and the second reference locations (110, 120) are comprised in a first contour, wherein the path comprises at least a first target location, wherein each of the first target location and the reference locations (110, 1129) is associated to a corresponding n-tuple (210, 220, 260) wherein the n-tuple specifies the position of the corresponding location and the orientation information, wherein the orientation information comprises a preferred angle or angle range and/or a direction or preferred direction, an information such as "go preferably left" or "go preferably clockwise", and/or a prevention, and determines the way the moveable object moves to the at least first target location, wherein the n-tuples (210, 220) of the first and the second reference location (110, 120) are stored in a storage device; said method comprising at least the steps of: - retrieving from the storage device at least the n-tuples (210, 220) associated to the first and the second reference location (110, 120); - determining the n-tuple associated to the first target location by using a first computational procedure, wherein the first computational procedure is based on the orientation information and at least on the n-tuples (210, 220) associated to the first and the second reference location (110, 120); - storing the n-tuple associated to the first target location in the storage device; and wherein the moveable object starts determining the path with a first starting point that is comprised in the first contour and, when the first starting point is used a second time for determining the path, the path is transformed into the first contour and a new starting point is set, and wherein, when a distance between the first reference location and another reference location comprised in the first contour is smaller than a predefined distance (pd), said another reference location is transformed into the second reference location. wherein the first and the second reference locations (110, 120) are comprised in a first contour, wherein the path comprises at least a first target location, wherein each of the first target location and the reference locations (110, 1129) is associated to a corresponding n-tuple (210, 220, 260) wherein the n-tuple specifies the position of the corresponding location and the orientation information, wherein the orientation information comprises a preferred angle or angle range and/or a direction or preferred direction, an information such as "go preferably left" or "go preferably clockwise", and/or a prevention, and determines the way the moveable object moves to the at least first target location, wherein the n-tuples (210, 220) of the first and the second reference location (110, 120) are stored in a storage device; said method comprising at least the steps of: - retrieving from the storage device at least the n-tuples (210, 220) associated to the first and the second reference location (110, 120); - determining the n-tuple associated to the first target location by using a first computational procedure, wherein the first computational procedure is based on the orientation information and at least on the n-tuples (210, 220) associated to the first and the second reference location (110, 120); - storing the n-tuple associated to the first target location in the storage device; and - retrieving from the storage device at least the n-tuples (210, 220) associated to the first and the second reference location (110, 120); - determining the n-tuple associated to the first target location by using a first computational procedure, wherein the first computational procedure is based on the orientation information and at least on the n-tuples (210, 220) associated to the first and the second reference location (110, 120); - storing the n-tuple associated to the first target location in the storage device; and wherein the moveable object starts determining the path with a first starting point that is comprised in the first contour and, when the first starting point is used a second time for determining the path, the path is transformed into the first contour and a new starting point is set, and wherein, when a distance between the first reference location and another reference location comprised in the first contour is smaller than a predefined distance (pd), said another reference location is transformed into the second reference location.