There is a high demand for unmanned aerial vehicle( UAV) flight stability when using vision as a detection method for navigation control. To meet such demand,a new path planning method for controlling multi-UAVs is studied to reach multi-waypoints simultaneously under the view of visual navigation technology. A model based on the stable-shortest pythagorean-hodograph( PH) curve is established,which could not only satisfy the demands of visual navigation and control law,but also be easy to compute. Based on the model,a planning algorithm to guide multi-UAVs to reach multiwaypoints at the same time without collisions is developed. The simulation results show that the paths have shorter distance and smaller curvature than traditional methods,which could help to avoid collisions. There is a high demand for unmanned aerial vehicle (UAV) flight stability when using vision as a detection method for navigation control. To meet such demand, a new path planning method for controlling multi-wayAVs is studied to reach multi-waypoints simultaneously under the view of visual navigation technology. A model based on the stable-shortest pythagorean-hodograph (PH) curve is established, which could not only be the only of visual controls and control law, but also easy to compute. Based on the model, a planning algorithm to guide multi-UAVs to reach multiwaypoints at the same time without collisions is developed. The simulation results show the the paths have shorter distance and smaller curvature than traditional methods, which could help to avoid collisions.