Abstract: 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. 

Key words:  , air respirator, rescuer, gas volume prediction, ant colony algorithm, path planning