The present application discloses a method and device for planning and switching routes of unmanned aerial vehicles, including: when the target
route is a straight line, a perpendicular line is made to intersect the first target point of the
route according to the current position of the unmanned aerial vehicle, and then an
offset distance is set along the
route to determine a second target point that changes in real time, and the unmanned aerial vehicle tracks the second target point and gradually approaches it until it flies along the target route. For arc routes, the
azimuth of the unmanned aerial vehicle relative to the hovering center point is calculated, and the offset angle is added to determine the third target point. The third target point is updated in real time with the current position of the unmanned aerial vehicle, and the unmanned aerial vehicle is guided to
cut into the target route and hover according to the specified hovering
radius and direction. When switching routes, the route switching point is calculated according to the minimum
turning radius and
turning angle of the unmanned aerial vehicle, and the unmanned aerial vehicle is guided to transition from the current route to the next route in a smooth curve until it flies along the next route. The problem of how to enable unmanned aerial vehicles to more flexibly respond to external interference and the need to quickly approach routes or emergency route adjustments is solved.