Multi-UAV swarm is widely used in urban aerial photography, post-disaster first aid, forest fire monitoring and prevention and other fields. The current task control method of multi-UAV swarm depends on the environment, and it is difficult to establish a general task allocation model. The multi-task pre-allocation algorithm is difficult to solve the optimal solution. In this paper, the mission planning model of multi-UAV swarm is established. By adjusting the weight coefficients of the total navigation cost, mission revenue and mission rescue cost of UAV in the total effectiveness function, the simulation of different tactically oriented mission planning and the cooperative operation of different load types of UAV are realized. The research contents include multi-UAV task allocation and sequence planning, formation and swarm mode, and optimal path planning. The performance of the algorithm is verified by field tests on six UAVs. The algorithm is also evaluated and analyzed from multiple dimensions such as path cost and Angle cost. The results show that the multi-UAV task control method can locate obstacles, avoid obstacles, complete task allocation, and find a route with low resource consumption, avoiding threat sources and smooth path.