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In order to fulfill the Human in Loop control demand,combine human and automationadvantages to improve the route planning efficiency for UAV, a Collaborative Human-Automation RRT (c_RRT) algorithm is proposed. The artificial guided waypoints are selected by user to identify narrow regions in the map, and the planner creates multiple trees from the initial point, goal point and the waypoints to promote the performance of the RRT algorithm under human interference; at the same time, Dubins Curve is applied in the Extend () and NearestState() sub-program to improve the smooth of route. Simulation results demonstrate the method’s effectiveness, and can be used in UAV route planning task.