In order to complete unmanned aerial vehicle (UAV) formation mission and solve the problem of UAV formation mission failure caused by interference in flight, a Dubins path planning algorithm and controller for UAV formation mission are designed. According to the time consistency requirement of UAV formation reaching the assembly point at the same time, the flight path is designed by analytic geometry method, and the controller which can adjust the flight speed is designed by analyzing the flight state of UAV. The performance of the route algorithm and controller is verified using a six-degree-of-freedom UAV model. The simulation results show that the algorithm can solve the flight paths of various formation missions and accomplish the formation task well under the controller.