The invention relates to a route planning method and terminal equipment for unmanned ships, and a storage medium. The method includes the following steps: step one, using a grid method to establish atwo-dimensional static environment model of a sailing area according to the distribution situations of barriers; step two, setting a calculating formula of the total time T of the navigation of an unmanned ship; and step three, performing route planning on the unmanned ship according to an ant colony algorithm, and updating pheromones in the ant colony algorithm according to the total time of thenavigation of the unmanned ship. As the speed of turning navigation is less than that of straight navigation, and as the larger a turning angle is, the smaller the speed is, a pheromone update mode inthe ant colony algorithm can be set to perform update according to the total time; and the shortening of the navigation time has great meanings for the smooth execution of rescue tasks of the unmanned ship, so that the method is closer to actual demands.