X50 fail to return to base

Hello, my X50 fail to return to base, it has an error message saying that the sensors needs to be cleaned… which I did… as a result, the robot spends more than 30 min moving around the whole area, stopping in each location and then doing circles over it’s own axis!, then moving to a next spot and repeating the same… after a while y attempted to return to the dock… it fail the mission and then started all over again….

Any help?

Need to return. To its base