In order to making the rescue team finish the work as soon as possible and protect the safety of personnel in toxic and harmful environment, it has studied the path planning problem of rescue team members. According to the action characteristics of multiple personnel in the rescue team wearing air breathing apparatus, improved the judgment condition of ant colony algorithm, added the storage link of simulated annealing algorithm solution, the number of algorithm cycle layers and the method of generating new solution. Combined the 2 improved algorithms, obtained a path planning algorithm suitable for two dimensional environment with many people wearing air breathing apparatus. The results show that the algorithm is better than the simulated annealing algorithm alone.