A method, for cleaning a pool with N vertical walls using a robot, comprising adjusting the robot against the vertical wall of rank n=1. The robot advances along the vertical wall of rank n until the vertical wall of rank n+1 is detected. The robot retracts over a release distance in order to be released from the vertical wall of rank n+1. The robot makes a rotation on itself in order to be adjusted against the vertical wall of rank n+1. Checking whether n is equal to N, in the negative case, the cleaning method continues with an incrementation step where “n” is incremented by “1”, and—then looping onto the advancement step. In the positive case, the cleaning method continues with a finishing step where the robot advances along the vertical wall of rank “1” until the vertical wall of rank “2” is detected.