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This paper presented a novel approach to search and optimize path points for anti-ship missile path planning. We utilized the method of MAKLINK graph to construct free space, and then, a global state connected graph is built up for searching for all possible routes. genetic algorithm is used to search and optimize path points severally in these local routes. According to flight rules and technique characteristics of anti-ship missile, a coding measure and the fitness function are proposed. By introducing constraints selection strategy, the method in this paper guaranteed that all paths resulted could satisfy constraints. The results by simulation revealed that the method proposed in this paper is effective in solving the path planning problem with constraints.