**5. Summarizing**

*Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation...*

efficiency can be achieved with less power.

used for speed testing.

human intervention.

their limitations.

**4.5 Examples with real circumstances**

*4.5.1 Considering the articulation of the monitored area*

column above the mountain ridge and its visibility.

fire development and reaching the detection threshold.

*4.5.2 Considering extreme weather condition of the year*

early stages of the development of fire.

around. The advantage of this is that in its parameters, almost the same

4.In the abovementioned case, the degree of efficiency can be calculated from the speed of rotation and the ratio of the angle of view, similar to the method

5.The purchasing, operating, and personal costs of the autonomous system are very high. The investment costs of the fixed system are low. The continuous operation of the system is also low, practically free, because it does not require

Of course, the abovementioned data are the extreme values of the mobile autonomous system's route planning. This can sometimes be an objective function, but that does not mean that it is always the only way to go, but this is the direction

The result of the examinations above is a flat or an area which is almost flat. Aside from examining the advantages of using a fixed installed camera system and the possibilities of using an autonomous system, it is also important to examine

The sample area allowed, for example, the detection of fire or its accompanying smoke, from the side. The latter is strongly influenced by the terrain. If there is only indirect fire detection, which is really a smoke detection (e.g. in a valley, a hill, or a fire behind a hill) in this case, the possibility of the detection is the rise of the smoke

If the distribution of the terrain and the level differences are significant, the detection of smoke by a fixed monitoring system is also significant, but it may be delayed, which has an influence on the effectiveness. In this case, the efficiency of using a mobile autonomous system may again exceed the efficiency of fixed systems. [28] The absolute criterion of the efficiency for the above mentioned case can be defined as the following: the non-observation time of using aerial patrolling is less than the average deviation of the appearance of smoke rising above the ridge due to

Examining the possibility of the fire detection in some periods, especially in dry seasons, the conditions of fire propagation become significantly more favorable. As a result of it, the burned area increases per unit of time. The damage will increase, the amount of power and tools for firefighting should be increased, and a higher alert state should be ordered. The time of the intervention will be longer, and costs will also increase. The firefighting units which are located far away from the fire department take a long time, the potential protection of the original location decreases, and the vulnerability of people and material goods increases. These factors also increase the risk of danger; the risks however can be reduced, if the fire department commences promptly with fire suppression efforts preferably in the

of increasing the efficiency by using remote sensing technology.

**114**

This chapter examined a specific form of path planning. It has been stated that by increasing the number of the intermediate points and changing some characteristics of each path, the number of the possible options increases exponentially. It has already been confirmed by multiple literature sources, and it is part of the traveling salesman problem. The two-dimensional approach to the problem of the path planning to different points is abandoned. The chapter focused mainly on the problem of path planning in case of area observation. It further revealed that the optimization of path planning enables detection and observation of unexpected event during patrolling. If this activity is regular and targeted, we can call it patrolling and get to the effective path patrol problem (E3F). The author aimed to make an effective detection by using patrolling in a particular area.

E3P has been tested in several ways. The author assessed the effectiveness of the phenomena and the event of the detection from a professional and an economical point of view. An investigation on how to make use of the available limited resources more efficient was conducted. It has been determined that when we want to increase the speed, it is not practical to increase the efficiency, because of some objective reasons. However, by increasing the angle of view of the remote sensing system and introducing the possibility of aerial patrolling in different altitudes, the same results were achieved. Ideally, to monitor a two-dimensional particular area, the moving autonomous system can be replaced by a stable set of devices. However, apart from ideal conditions and taking three-dimensional area, we can conclude that mobile autonomous systems may be more efficient than stable systems. The optimization is entirely dependent on the on the target function we achieved and also on a particular condition system. This can usually be determined individually.

*Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation...*
