Monitoring and analyzing the condition of various land-based facilities is an urgent task in many fields, from industry to agriculture. At the first sight that it may seem sufficient to simply place some sensors and collect data from them; however, in many cases, this approach is not feasible. This paper considers an algorithm for constructing the shortest route for a ground-based monitoring robot. The robot is controlled by a program that maintains a database of successfully traversed routes, enabling the most accurate determination of the robot’s trajectory while accounting for obstacles encountered along the way. The problem of determining the robot’s path is formulated as a stochastic capacitated vehicle routing problem. Data regarding the robot’s coordinates and the locations of monitoring points are stored as a weighted planar graph using an edge list. We propose the SPPA algorithm, which is based on the nearest neighbor method and solves the problem in polynomial time.