Aiming at the problem of spatio-temporal coordination constraint in formation penetration route planning under the condition of team support interference, a uni-machine evaluation function based on threat cost and energy consumption cost is constructed, and a comprehensive evaluation function with the timing coordination coefficient is designed to solve the problem of attack timing constraint.The multi-subgroup co-evolutionary ant colony algorithm introduces mutually-repulsive factors and designs dynamic target guidance factors to achieve collision avoidance within the space of the formation and the shortest voyage.The simulation results show that the improved multi-subgroup co-evolutionary ant colony algorithm can effectively solve the problem of spatio-temporal constraint in the formation-coordinated route planning under the interference of team support.