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Combined with the current trend of unmanned aerial vehicles(UAVs) development, with researching on path planning algorithm and strategy, on the basis of analyzing the classical particle swarm optimization(PSO) and the traditional path planning method, a path planning method based on improved PSO is proposed, dividing the UAVs path planning into two parts: overall path planning and inter-node path planning. According to the different requirements on search speed and accuracy of algorithm of the two parts, the evaluation function of PSO is designed by combining the environment model and constraint conditions. For inter-node path planning, the PSO is improved by designing a piecewise inertia weight adjustment formula, not only guarantees the search speed of the algorithm, but also improves the accuracy of the path planning solution. Simulation results show the correctness and feasibility of this method, and the superiority of this meth is analyzed by comparing with other algorithms. Finally the expectation of the following work is put forward in the aspect of autonomous real-time performance of algorithm.