In wartime,the multi-destination material transportation task of Unmanned Aerial Vehicle (UAV) has the problems of difficulty in determining the destination and high real-time requirements for path planning due to its complex environment and changeable material requirements.In order to solve the problems,a multi-destination path planning method based on ant colony decision-making and receding control is proposed.This method establishes a multi-destination decision-making function with the minimum loss as the objective through the optimization mechanism of ant colony algorithm.In addition,the Receding Horizon Control with extended Solution (RHC_eS) is adopted to carry out the multi-destination path planning by adopting the strategy of decision-making while moving at the same time.Finally,in order to verify the effectiveness of the method,experiments are carried out in a multi-destination environment with obstacles.The results show that compared with other methods,the proposed method has the advantages of shorter path and less loss.