The invention relates to path planning, in particular, a multi-ship path planning algorithm for marine pursuit or rescue. The algorithm comprises 15 steps, such as avoidance object indexing, planeablearea division, planeable area gridding, point and polygon algorithm execution, path planning grid generation, thread pool creation, GPS mapping-based grid coordinate generation, A* path planning algorithm execution. Compared with the prior art, the method solves the problems of unsmooth paths in the path planning of a moving target, the blockage of a main thread in a path planning calculation process, and the fully utilization of a modern multi-core processor by multi-ship simultaneous path planning.