Trying to map a room with Arduino controlled bot

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what see above map of room. boxes in black obstacles , box in red bot.

now want bot go around room, avoiding obstacles, @ same time, covering entire floor. think of robot painting floor , has paint entire floor avoiding obstacles.

now first approach put 3 hc-sr ultrasonic sensors on 3 sides , listen them in sequence, deciding path best , going there. method leaves out quite lot of floor area uncovered.

so how can cover entire floor area here?
presently working arduino uno , hc-sr04 wouldn't hesitate throw pi3 or few more sensors in there...-

where storing map info?


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