Employing a View Field in Autonomous Robots and Optimization of Checkpoint Placement in Area Surveillance

In area surveillance problems, planning an effective route is important for both of cost and safety. One solution is to transform a surveillance problem to another route planning problem such as a traveling salesman problem or a vehicle routing problem. However, conventional problems are limited in their settings (e.g., route expression), which cause difference between the models and the real world situation. Another solution is to evaluate routes by modeling and simulating the problem environment, for approaching the real world. In this paper, we develop a new simulation environment for surveillance, then propose a route optimization algorithm in the environment.