This article explores the problem of multi-UAV collaborative reconnaissance mission planning. First, considering mission constraints such as reconnaissance mission overlap, continuous reconnaissance time, effective reconnaissance distance, and obstacle avoidance, a mathematical model for multi-UAV collaborative reconnaissance mission planning was established. Then, in view of the situation where reconnaissance tasks overlap, a simultaneous reconnaissance scheme based on effective continuous reconnaissance time and effective reconnaissance distance is proposed.Finally, a heuristic path planning method was designed based on the greedy strategy, and combined with genetic algorithm and particle swarm optimization algorithm, the reconnaissance task sequence of each UAV is optimized.The simulation results show that the method proposed in this article can plan task sequences and flyable paths for each UAV under different mission requirements and complex obstacle environments, effectively improving the efficiency of multi-UAV collaborative reconnaissance.