The round-trip path planning problems remaining between the air search and rescue waiting area and the parachute jump area in the combat search and rescue mission scenario, a search and rescue channel planning method is proposed based on the improved ant colony algorithm and shared flight segments. First, in view of the shortcomings of the basic ant colony algorithm, such as local extreme values and slow convergence speed, the heuristic function, state transition strategy, and pheromone update strategy are improved, and its path planning performance is verified. And then, for the path planning problem of single starting point and multiple target points, a search and rescue channel planning method is proposed to set branch points to generate shared flight segments. The total path length is used to represent the mission preparation load and compared with separately planned routes. The experimental results show that in the test environment of this article, the path length planned is reduced by 15.4% and 14.2% respectively by the improved ant colony algorithm, and the task preparation load of the search and rescue channel is reduced by 25.4%.The proposed search and rescue channel planning method has a certain theoretical and application value.