A method of placing sensor position for inspection with constrained visibility

In this paper we explore a method of setting the position of sensors with constrained visibility for inspecting the room. Throughout the paper, it is assumed that a polygonal 2 D workspace is given as input, there is need that computing several locations for sensors with limited visibility and the workspace is totally inspected by these sensors. The key question that we search is that: How we can find the least number of sensors considering the distance of visiting these positions. We here analyze the special positions for inspecting where could inspect the space efficiently and shorten the path and create the randomized inspection points at these position which called inspection sampling set. By proposing the algorithm that selects the proper locations from the sets, the goal of our paper is reached. Throughout the simulation and experiment, this method could inspect the room and works well under different constraints.