I. Introduction
In recent years, the application of UAV is developing rapidly, which has great potential in military and civil fields. As the volume of UAV becomes smaller, the perception ability becomes stronger, and the autonomy becomes higher, the UAV network composed of multiple UAVs is becoming a research hotspot in the field of UAV. The multi UAV cooperative self-organizing network can accomplish tasks more reliably, efficiently and economically than the single large UAV. At present, the mode of multi UAV cooperation has been widely used in the film and television shooting, agricultural monitoring, meteorological monitoring, forest fire detection and emergency rescue and other fields [1], [2].