The invention discloses an unmanned aerial vehicle cooperative search method for a moving object with a perception capability. The method is characterized in that the method is carried out according to the following steps: 1, constructing an unmanned aerial vehicle cooperative search moving object model; 2, solving the model to obtain an optimal solution; 3, decoding the optimal solution to obtain a course deflection angle of an unmanned aerial vehicle; 4, according to the course deflection angle, obtaining an optimal path of preplanned q steps, executing the first step in the optimal path, and the unmanned aerial vehicle moving; 5, based on detection information and object motion, updating a search map; and 6, progressively increasing one time step length, finishing a search task when a total planning time domain step length ends, and otherwise, returning to the second step. The method provided by the invention can solve the problem of search for the moving object with the perception capability, improves the search efficiency and more accords with an actual complex dynamic battlefield environment.