Abstract: Cooperative path planning of anti-ship missile has become the key of modern naval warfare system, which is a complex multi-objective optimization problem with strong constraints of heterogeneous platform combination and decision-making coupling. Research requirements and background of cooperative path planning of anti-ship missile are discussed. Research status and development trends in the field of path planning are summarized as four development directions; Problems and shortcomings of current research and the framework of follow-up research are analyzed. Three key technologies and their preliminary solutions are proposed, including dynamic evolution mechanism extraction and discovery, coupling and decoupling of vertical decision-making links, and geometric model optimization leading evolution.