Abstract: To solve the problem of attacking the target effectively on the premise of ensuring their survival of multiple missiles, an algorithm of cooperative path planning is proposed which can not only make missiles avoid threats and collision but also attack the target at the same time from designated directions. The path model is based on the threeorder Bezier curve. Considering multiple constraints of the initial flight path angle, impact angle and available overload, regarding the position of control points of the Bezier curve as design variables and the piecewise path length as the optimal cost index function, an optimal model is established which could be solved to get the optimal segment of the Bezier curve. According to the situation of threats in the battlefield, a selection strategy for the waypoints of every missile is designed, which combines the optimization of the piecewise path to get the whole path satisfying the impact angle constraint. Supposing that all the involved missiles have the same speed, the flight time corresponding to the longest path is regarded the desired cooperation impact time. Other paths are then extended proportionally to have the same length with the longest path to realize impact time cooperation. The time and space safety of the path is detected and a method adjusting the unsafe path is proposed. Simulation results demonstrate the validity of the proposed algorithm.