**4.4 Comparing the mobile and stabile remote sensing applications**

The results from the increase of the flight altitude and of the camera angle, logically, will lead to further ascertainment. In both cases, the entire area can be observed simultaneously. This point locates in the centre of the area. From the data we can see that the speed value belonging to the centre point is zero. This is a very special situation: The camera of the autonomous system, as a monitoring device, does not require any movement, i.e. patrolling. The values in line "D" of **Table 2** and **Figure 7** show the increase of the camera's angle view—which justifies the full observation of the area—can be ensured if the observation is not only from the same point but also from the same height! This statement proves that the application of the mobile autonomous system with the help of a stable or fixed installed autonomous system—in case of a flat area—can be theoretically triggered.

The characteristics of the function between the monitored pixels and flight altitude (left) or camera's angle view (right) can be seen at **Figure 10**. In both cases we can see that there is a value where all pixels—which means the whole area—are under observation in the same time.

The comparison analysis based on economic base of the abovementioned ascertainment gives results as follows:


**Figure 10.** *Rate of blind and observation area depending on raising the flight altitude (left) and the camera angle (right).*

around. The advantage of this is that in its parameters, almost the same efficiency can be achieved with less power.


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 of increasing the efficiency by using remote sensing technology.

## **4.5 Examples with real circumstances**

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 their limitations.

#### *4.5.1 Considering the articulation of the monitored area*

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 column above the mountain ridge and its visibility.

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 fire development and reaching the detection threshold.

#### *4.5.2 Considering extreme weather condition of the year*

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 early stages of the development of fire.

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*Path Planning Optimization with Flexible Remote Sensing Application*

from the quick firefighting of fires and the loss values.

patrolling which also serves as a kind of deterrent.

**5. Summarizing**

particular area.

be determined individually.

As a condition of this, in areas where stable fire monitoring stations are not required due to the low average risk level, it is advisable to shorten the average time of fire detection by using aerial or ground patrolling. To do this, we need to develop objective indicators which on the basis of the cost of patrolling can be recovered from an economic point of view. In this case, the interpretation of the return results

In highly flammable periods, air reconnaissance may be more effective from an economic point of view than a stable observer station. The reason for this is that the probability of detecting air surveillance during these periods increases, so its unit costs are decreasing in relation to the number of "matches" meaning the number of detections. Due to the higher fire propagation, the unit costs are also reduced to the damages per unit time. Although it is difficult to measure, it has added benefit because people who are responsible for the fire take into consideration the air

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

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

*DOI: http://dx.doi.org/10.5772/intechopen.86500*

*Path Planning Optimization with Flexible Remote Sensing Application DOI: http://dx.doi.org/10.5772/intechopen.86500*

As a condition of this, in areas where stable fire monitoring stations are not required due to the low average risk level, it is advisable to shorten the average time of fire detection by using aerial or ground patrolling. To do this, we need to develop objective indicators which on the basis of the cost of patrolling can be recovered from an economic point of view. In this case, the interpretation of the return results from the quick firefighting of fires and the loss values.

In highly flammable periods, air reconnaissance may be more effective from an economic point of view than a stable observer station. The reason for this is that the probability of detecting air surveillance during these periods increases, so its unit costs are decreasing in relation to the number of "matches" meaning the number of detections. Due to the higher fire propagation, the unit costs are also reduced to the damages per unit time. Although it is difficult to measure, it has added benefit because people who are responsible for the fire take into consideration the air patrolling which also serves as a kind of deterrent.
