A robotic garden tool includes at least one sensor configured to generate signals associated with an object within an operating area. A first electronic processor of the robotic garden tool receives, from the at least one sensor, an obstacle signal associated with an obstacle located within the operating area. The first electronic processor determines a first location of the robotic garden tool at a time corresponding to when the first electronic processor received the obstacle signal. The first electronic processor determines a second location of the obstacle based on the obstacle signal and the first location of the garden tool. The first electronic processor generates mapping information of the operating area that includes a virtual boundary based on the second location of the obstacle. The first electronic processor controls the robotic garden tool in the operating area to remain outside of the virtual boundary based on the mapping information.