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Polygon Partitioning and Route Optimization for Multi-Mobile Guard Deployment: Trade-Offs in Obstacle-Laden Environments
Author(s)
Marzal, Jefri
Waladi, Akhiyar
Rarasati, Niken
Paireekreng, Worapat
Chit, Suwannit Chareen
Date Issued
January 1, 2025
Type
Conference Paper
Abstract
Multi-mobile guard deployment in polygonal environments with obstacles requires balancing guard count minimization against path optimization while maintaining complete coverage. This study systematically evaluates three polygon partitioning methods (Delaunay, Earclip, HertelMehlhorn) combined with two route optimization strategies (Edge Removal, Equal Distance) across 250 diverse scenarios with random obstacle configurations. Experiments employed iterative guard count exploration algorithms with coverage verification at each increment, measuring guard capacity, total path length, per-guard load distribution, and area coverage efficiency. Results show partitioning method substantially affects guard capacity, with Hertel-Mehlhorn requiring 44% fewer guards (9.2 vs 16.4) than Delaunay. Earclip with Edge Removal achieved 37% shorter paths (452 vs 716 units). Edge Removal provided 11-14 % efficiency gains but severe load imbalance (max/min ratios 14-25), while Equal Distance achieved nearperfect balance (ratios 1. 4-1. 5) at 1 1-1 4 % cost. Diminishing returns characterized guard additions, with first increment yielding 50% per-guard load reduction, declining to 1-3 % at later increments. Fundamental trade-offs between efficiency and equity prove structural rather than algorithmic, enabling empirical evidence-based method selection for resourceconstrained, energy-critical, or fairness-required real world applications in surveillance systems, robotic path planning, and autonomous navigation.
Citation
6th Technology Innovation Management and Engineering Science International Conference Times Icon 2025 Proceedings, 2025