The invention discloses a multi-unmanned aerial vehicle collaborative searching method based on improved pigeon 
flock optimization. The method comprises the following steps: firstly establishing a mapmodel, and establishing a target information map by using a Markov model, and then establishing a motion model and a digital 
pheromone map of the unmanned aerial vehicle; performing the collaborativesearching of multi-unmanned aerial vehicle by applying the pigeon 
flock optimization 
algorithm, and realizing by using 
chaotic and reverse strategies at an initial 
population location, thereby determining the randomness of the initial location; when performing the iteration of the map and the 
compass operator at the first stage, preventing from falling in 
local optimum by using Cauchy 
mutation; when performing the iteration of a 
landmark operator, representing the bad individual and 
Gaussian variation by using 
simulated annealing reservation part, thereby preventing premature from falling inlocal optimum. The 
chaotic and reverse strategies are used for initializing the 
population location, the variation and 
simulated annealing algorithm imported for preventing 
local optimum are combined,thereby solving the dynamic target and repeated searching problem in the searching process, and the searching efficiency is effectively improved at the same time.