I. Introduction
With the rapid development of technology, unmanned aerial vehicles (UAVs) are being increasingly used in various fields, such as agriculture spraying, logistics delivery, environmental monitoring, and military reconnaissance. Their convenience and efficiency have been widely recognized. In 2019, the world was shocked by the highly publicized attack on Saudi Arabian oil fields. The power and potential threat of UAV attacks were vividly demonstrated, revealing the shortcomings of existing UAV defense systems in the face of complex attack patterns. Especially in situations with limited resources, how to efficiently utilize existing UAVs for effective defense and maximize target protection has become an urgent problem to solve.