A robotic mower boundary coverage system includes a vehicle control unit on the robotic mower commanding a traction drive system to drive the robotic mower at a specified yaw angle with respect to a boundary wire, and a boundary sensor on the robotic mower signaling the distance between the boundary wire and the vehicle control unit. The vehicle control unit alternates commands to direct the traction drive system toward and away from the boundary wire based on the distance of the robotic mower to the boundary wire.