A Study On Route Optimization Problems in Area Surveillance using Autonomous Robots

Abstract

In recent years, the industrial application of autonomous mobile robots such as UAVs has been spreading rapidly in various fields. In this context, several studies focus on area surveillance. In the area surveillance, autonomous robots that are equipped with a camera move around a designated area for surveillance. Travel routes of the robots must be determined appropriately to reduce costs while increasing the efficiency of surveillance. In this paper, we formulate route optimization problems for autonomous robots in the area surveillance. In the formulation, we assume that the occurrence of anomalies in an area is assumed to be uniform, and we maximize the rate at which anomalies are detected. Heuristic optimization methods are applied to the formulated problems. Furthermore, simple experiments are conducted using these optimization methods.