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On the research of route planning for UAVs, the basic Ant Colony Optimization algorithm is easily trapped into local optimal and takes very long time to plan the route, so the Ant Colony Optimization is modified in this paper; by introducing dynamic adaptive route selection and pheromone evaporation factor dynamic adaptive criteria, we overcome the shortage of basic Ant Colony Optimization algorithm effectively, at the same time measures are taken to smooth the planned route to make it meet the demand of UAVs’ flight. By simulation, we get the routes in static threat environment and dynamic threat environment respectively, the results show that modified Ant Colony Algorithm can map out optimal routes in both environment.