基于空气呼吸器气量预测的人员路径规划

针对救援人员佩戴空气呼吸器执行任务时路径难以规划的情况，提出一种基于空气呼吸器气量使用情况的多楼层空间单人路径规划方法。根据人员行动特点，从三方面改进蚁群算法，主要包括：分情况计算两点间距、基于空气呼吸器气量预测的约束限制判断、充气保障条件的判断。将改进后的方法应用于不同任务场景，验证了方法的合理性，对佩戴空气呼吸器人员作业做出行动规划、安全高效完成任务具有指导意义。

Personnel path planning method based on prediction of gas volume of air respirator

In view of the fact that it is difficult for rescuers to plan the path when they wear air respirator to perform tasks, proposed a single person path planning method in multi floor space based on the air consumption of air respirators. According to the characteristics of personnel action, improved the ant colony algorithm from three aspects, including: calculate the distance between two points according to different situation, judge the constraints based on the prediction of air volume of air respirator, and judge the inflation guarantee conditions. Applied the improved algorithm in different task scenarios, verified that it is reasonable and instructive for personnel wearing air respirator to make action plan and complete the task safely and efficiently.