This paper presents a detailed analysis of a hybrid route planning algorithm designed for navigation in 2D space given partial uncertainty in terrain information. The algorithm operates in stages and is divided into two levels. At the first level, the local visibility area of the object is formed, and the covered region is defined on the map. At the second level, the algorithm is responsible for creating a set of possible trajectories of the object passing through each of the identified at the first level. An important feature is the use of the ant algorithm, which allows us to efficiently explore the space of options and find optimal paths. The use of an adaptive support vector, which sets the preferred direction of the software movement, an upgraded step-by-step trajectory design method, and approaches to the formation and size, relationship of mutual arrangement, and orientation on the ground of the local visibility zone and regions had a significant impact on improving the characteristics. The use of the proposed trajectory design method, taking into account the above factors, allows simplifying the trajectory configuration and minimizing its overall length, resulting in reduced computational costs and route travel time.