关键词: 双机三维航迹规划, 林火救援, 人工免疫算法, 最短路径

Abstract:

To solve the problem of dual aircrafts path planning for forest fire rescue in complex environment,artificial immune algorithm was proposed for three dimensional flight path planning.Referring to the method of using artificial immune algorithm to plan robot path,three-dimensional flight paths for dual aircrafts were designed by considering the special characteristics of plan and the requirements of dual aircraft path planning in the consideration of taking off at different sites and arrival at desition at the same time,and main factors of the algorithm were analyzed and estimated for finding the optimal parameters of planning track for designing safe and efficient flight path.Results show that the method is capable of planning a dual aricrafts flight path in complex environment.Artificial immune algorithm with optimal parameter will  be able to quickly and efficiently planning three-dimensional tracks and  enrich the route planning method.

Key words: dual aircrafts three-dimensional route planning, fire rescue, artificial immune agrithm （AIA）, shortest path