Method for defining a fallback route for a mobile machine, associated fallback method to join such a route for a mobile machine, associated module and computer program.

The method involves defining a set of points i.e. beacon points, for a fall back route such that edges of Voronoi diagram associated with the set of beacon points separate polygons described by convex zones (ZN1-ZN6) of three-dimensional (3D) displacement zone (ZNd) in the plane. An identifier of the convex zone to which the point belongs, coordinates of the point and an identifier of a region of axis (Z) for each beacon point are associated with each way point of the fall back route and each beacon point of the route in a database. Independent claims are also included for the following: (1) a module for defining a fall back route for a mobile machine in a three-dimensional displacement zone (2) a computer program for defining a fall back route for a mobile machine in three-dimensional displacement zone.