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Pre-planning model for complex low-altitude rescue trajectory based on ant colonyalgorithm

Yong Hang, Ming Zhang, Songchen Han

To improve emergency rescue efficiency in the complex low-altitude dense flight environment, secure low-altitude flight, shorten total implementation time of a rescue mission, this paper establishes the pre-planning model for complex low-altitude rescue trajectory and designs the solution model of ant colony optimization algorithm based on the constrains such as restricted airspace, flight interval distance, turning point and secure interval and validates effectivity of this model and algorithm via the simulation experiment.