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the multi-objective distribution of multi-helicopter based on the feasibility matrix was proposed in this paper, which enhanced the effectiveness of aviation emergency rescue. The horizontal track planning of helicopters was put forward based on the morphology graphic process technology and heuristic A* search algorithm, which can obtain the feasible shortest flight path with the condition of safety separation. Therefore, the plans were formed and the aviation emergency rescue auxiliary system was developed, which can improve the efficiency and safety through preflight preparation.

Researches on the Coordinated Rescue of Multi-helicopters Based on Feasibility Matrix and Track Planning