According to the characteristics of close distance and large yaw angle of aerial submarine search buoy,a route planning algorithm combining Dubins path and double ant colony algorithm is proposed.Compared with the traditional route planning that the linear route is firstly determined and then smoothed,the algorithm converts the straight path into the Dubins path in the iterative pathfinding stage,which reduces the risk of not reaching the target under the constraint of the turning radius,and the Dubins distance is used as the benchmark for judging,which is closer to the global optimal than the straight-line distance.Moreever,the parameters of yaw distance disturbance are added to guide ants to choose targets with smaller straight-line distance and yaw angle,and use the negative feedback of pheromones in different ant colonies to promote the search for new paths and improve the wayfinding ability.The simulation results proves that the algorithm accelerates the convergence speed of planning,effectively shortens the total distance of the route,and the average shortening range is more than 14.6%.