Aimed at the path planning problem of dual robot system collaborative work, a double ant colony path planning method was proposed based on ant colony algorithm. In the method, two different ant colonies could cooperate to complete all the tasks through the wheel candidate selection mechanism.In the process of ant colony iteration, positive feedback effect of the pheromones between same populations of ants was used to optimize the movement path of the ant colony. And negative feedback effect of the pheromones between different ant colonies was used to reduce the conflict between the two ant colonies.So the optimal moving paths of the two robots were found through the iterative process.The simulation results show that the algorithm is convergent and can be used to realize the task assignment and path planning of dual robot at the same time. The path planning result is better than that of the existing dual robot path planning algorithm