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Nowadays, with the rapid development of UAV and robot technology, the route planning of UAV and robot has become an inevitable problem. How to design a high precision and high reliability algorithm to guide the UAV or robot to the target point with the optimal path and avoid obstacles and threats in the path has become a hot research topic. In this paper, the grid system is used to divide the map into two values to determine the passable area and the threat area. In the route planning, the pheromone concentration and heuristic information are set based on the ant colony algorithm, and the heuristic factor is improved on the basis of the traditional ant colony algorithm. Thus, the improved algorithm can solve a feasible path and speed up the convergence speed. At the same time, Dubins curve is used to curve the solution path, so that the path can meet the requirements of flight curvature of UAV. In addition, this paper compares the difference between the improved ant colony algorithm and the traditional ant colony algorithm, and tests the influence of different parameters in the hybrid ant colony algorithm on the algorithm effect.