A linear-time 2-approximation algorithm for the watchman route problem for simple polygons

Given a simple polygon P$P$ of n$n$ vertices, the watchman route problem   asks for a shortest (closed) route inside P$P$ such that each point in the interior of P$P$ can be seen from at least one point along the route. In this paper, we present a simple, linear-time algorithm for computing a watchman route of length at most two times that of the shortest watchman route. The best known algorithm for computing a shortest watchman route takes O(n⁴logn)$O(n^{4}logn)$ time, which is too complicated to be suitable in practice.