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The aim of this paper was to analyse and model the behaviour decision-making of rescue crews in multi-helicopter collaborative search and rescue mission. Firstly, based on decision field theory, a dynamic behavioural decision-making model was put forward considering personal behaviour decision-making preference. Besides, considering physical characteristics, safety requirements and rescue crews' behaviour decision-making, a multi-helicopter collaborative search and rescue behaviour model was established. Then, based on the survey of four general aviation helicopter search and rescue companies, the search and rescue efficiency by teams composed of different decision-making preferences was simulated based on distributed ant colony algorithm in experiments. Results showed that rescue crews with different personal preferences have different behaviour characteristics. Besides, teams composed of mixed preferences are more efficient than teams composed of single preferences, and the most optimal composition way is when the positive type is slightly more than the conservative type and balanced type. [ABSTRACT FROM AUTHOR]