**1. Introduction**

The purpose of path planning is to be able to get from point of A to B in the most efficient way. Most often we look at criteria such as the speed of travel, the shortest possible distance, the comfort, or the economy, but sometimes there are special aspects such as the minimum time for a particular route to go, the exact date of arrival, or the cost-effectiveness of the travel. The method of acquiring the most efficient solution in a given criteria is called as the optimization process. There is an abundance of literature and studies dealing with this problem, such as a common problem [1], a special problem for ground [2] or aerial vehicles [3], and a problem of industrial robots [4] or public service [5], even the author's team [6] tried to analyze the problem, that results are basically used for this study.

Path planning between two or more points may have even other goals than just doing the route. For example, during the travel we can observe the immediate surroundings of the route. If we take into account the possibility of remote sensing, the observed field can be wider and wider when passing the route. Following this logic, we can conclude that choosing a route is not merely premised on getting from one point to another one but rather on supervising and monitoring an area of responsibility. The purpose of the area monitoring is typical for safety reason, prevention and protection against criminals, swift forest fire detection, or offering first aid to victims in case of disaster.

Following the path or monitoring, the area can be done by the traditional way meaning that the trained staff uses a vehicle; conversely it can be done in advanced way meaning that the presence of staff on board of the vehicle is no longer required. The latter can be interpreted as using the autonomous system. One of the advantages of autonomous systems is that we can eliminate human error by applying it.

The effectiveness of the autonomous system should be examined under different conditions. For easier understanding, the best method is if we start with the simplest condition that means the least distracting circumstances. This can also be called as an ideal case.

The purpose of observing an area is to detect the unrequired event or incident as soon as possible. In general, the faster the autonomous system detects the event, the more effective it is to apply. We need to look at how to optimize the path planning of the autonomous system with flexible remote sensing methods.
