A fully self-contained collar monitors the location of a pet. A look-up table has rows and columns representing geographic location, and machine-stored values at each table location represent a particular one of several guidance zones. The real-time guidance zone determination is made by first determining present location. The corresponding table location value representing guidance zone is retrieved. Each guidance zone has an associated set of characteristics used by collar electronics and stimulus generators to generate well defined and positive stimulus to train the pet to stay within a predetermined area. In addition, using location history the collar electronics also predictively alerts the pet of an impending exit from a safe zone. This departure alert may be further combined with inertial validation and dynamic position request intervals to provide a much more reliable and robust system that is then able to much more efficiently and effectively train a pet.