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In the application background of UAV route planning,a method based on Voronoi diagram and dynamic and adaptive ant colony algorithm is proposed for route planning of UAV.In order to improve the quality of the optimal solution and the ability in searching the whole best solution of the path planning problem,and overcome the shortcomings of the traditional ant colony algorithm,such as premature convergence,in local optimum and running slowly,a dynamic and adaptive ant colony algorithm is proposed.A dynamic adaptive track point selection strategy,and a updating for pheromone and volatilization coefficient dynamically are used to improve the solution efficiency of the algorithm.The weighted Voronoi diagram is created according to the certain threat sources,with the dynamic and adaptive ant colony algorithm to search the optimal path in the space.Considering the physical constraints restrict of UAV,a route smoothing method is used to optimize the feasible path.Simulation results show that the proposed method can meet the requirements for route planning of UAV.Through the simulation,the feasibility and effectively of the scheme are verified.