Abstract: Aiming at the real-time path planning of joint emergency rescue with multiple starting points,multiple rescue points and multiple exits,an improved ant colony algorithm(IACA) was proposed and a combined optimization path construction method was designed.In order to improve the convergence of ant colony algorithm,this paper updated the equivalent distance between two position nodes in real time,improved the pheromone update rules,and adaptively adjusted the pheromone volatility parameters.A local search algorithm that effectively combines with ant colony algorithm was constructed to improve the ability of fast optimization presented.To solve the limitation of the single emergency rescue of traditional path planning,this paper proposes a path construction method based on combined optimization ant colony algorithm.The simulation results show that the improved ant colony algorithm based on combinatorial optimization can quickly find a set of paths from multiple starting points to multiple rescue points and back to multiple exits in real time,and its convergence speed and the shortest path are better,which can improve the rate and optimization in large emergency rescue route planning.

Key words: Emergency rescue, Improved ant colony algorithm, Path planning