According to the whale optimization algorithm-based smooth path planning method provided by the invention, the path length, the curvature and the curvature derivative in an improved WOA optimization curve path are adopted, and a good result is obtained. In the improved WOA algorithm, a Levy flight strategy is introduced to add local disturbance to the algorithm, the diversity of solutions is increased, and local optimum is avoided. And meanwhile, a fractional order expansion equation is introduced, so that each generation of whale individuals is influenced by the positions of the previous generations, and the search capability of the algorithm is further enhanced. In 23 reference functions, the performance of the improved WOA algorithm and other algorithms is tested and compared, and the superiority of the improved WOA algorithm is verified. Finally, analog simulation experiments are carried out in two different maps, a high-order Bezier curve is adopted in a smoothing method, and continuity of the path curvature is guaranteed. Compared with the existing other algorithms, the improved WOA algorithm has the advantages that the performance is obviously improved, and the operation time is shorter.