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recent years, the level of internationalization has been increasing. Large-scale social activities have been increasing and scale has been constantly expanding. Large-scale social activities with a large number of high concentration characteristics. In the face of emergencies, the traditional measures have invested a great deal of manpower and resources but are extremely inefficient . An evacuation route composed of multiple UAVs leads the evacuation direction of evacuees through the guiding lights on the UAV, greatly increases the rescue speed, saves the use of manpower and material resources, and reduces the loss of property.