The design of formation control and path planning methods for UAVs and UGVs swarm is of significant importance for the coordinated motion of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). In this paper, a simulation platform consisting of three UAVs and three UGVs was devised, and formation control and path planning methods were designed for it, with feasibility validated in a simulated environment. The formation control method employed a consensus algorithm to maintain formation integrity, while global path planning utilized a jump point search algorithm to generate global waypoints from the start to the destination. For UAVs, local path planning was conducted using the artificial potential field method based on the global waypoints, whereas for UGVs, the dynamic window approach was employed for local path planning. Simulation results demonstrated that the proposed algorithm ensured the safety and stability of the UAVs and UGVs swarm.