Abstract:This article proposes a new route planning algorithm for the high-flying unmanned aerial vehicles. This method called ant colony algorithm based on cloud model. The basic ant colony algorithm has some drawbacks, such as it’s easily to fall into local optimal solution and need long computing time. This improved ant colony algorithm proposed the cloud model to control the size of Q and ρ, which lead to better convergence and avoid falling into local optimal solution. Then simulate this algorithm in the TSP. Disperse the UAV mission map by grid, then use of the cloud model of ant colony algorithm for route planning.