“…In the case of holes it is assumed to bypass perimeter empty right-hand rule (Zou & Chakrabarty, 2003). In order to solve the problem of local minimum different algorithms are offered (Wuu, Li, & Kuo, 2010;Xing, Xu, Zhao, & Harfoush, 2007), including those aimed at reducing the number of hops on the basis of the neighborhoods method (Denardin, Barriquello, Campos, & do Prado, 2011). But this method has never extended to entire route.…”