Travelling route of mobile surveillance camera

A video surveillance system is becoming more and more important for investigation and deterrent of crimes, and cameras installed in public space are increasing. However, a number of cameras is required to observe a wide and complex area with cameras installed at fixed positions. In order to efficiently observe a wide and complex area at lower cost, mobile robots have attracted attention. In this paper, we propose a method to plan a travelling route of mobile surveillance camera. Our method is based on mixed integer linear programming, and obtains an optimum travelling route such that a camera with certain visual angle and distance can observe all regions at the shortest intervals. Our method is applied to artificially generated data with various parameters, and it is shown that the shortest route which is more appropriate for the observation is obtained compared to a TSP-based method.