A hybrid algorithm based on particle swarm optimization (PSO) and artificial bee colony (ABC) is proposed for 2D and 3D path planning of unmanned aerial vehicle (UAV) in threatening battlefield environment. According to the characteristic that B-spline can modify the local flight trajectory, the non-uniform B-spline curve is introduced to optimize the path at the inflection point, so that the obtained path is smoother and the UAV maneuvers are relatively less. The results show that the research improves the safety and efficiency of UAV flight, and is convenient for the realization of UAV flight control and tracking.