Vacuum cleaner otonom path

Hello ı want to make a own vacuum cleaner but there are some open point that ı add pic. to express. Which moduls should ı use to give a path to vacuum cleaner via reference from corner of room and defiy the home position. I have obstacle sensor and etc there is no problem .

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Is the robot vacuum cleaner able to turn accurately through 90 degrees and can it maintain a straight running path either autonomously or with reference to a wall ?

If there's no problem, what are you asking?

You will need position and orientation sensors, and an MCU to calculate the path and command the vacuum cleaner movements.