To solve the problem of multi-UAV cooperative strike in battlefield environments and in order to improve the survival rate of the UAVs and ensure the accurate strike on the target,a segmented path planning method with simultaneous arrival of the terminals and uniform spatial distribution is proposed.Firstly,a multi-objective trajectory optimization model that meets the requirements of battlefield is constructed.Secondly,by introducing cooperative variables,a cooperative attack strategy with multi-directional simultaneous arrival is designed.Then,Particle Swarm Optimization (PSO) algorithm is improved by adopting the principle of population splitting and merging and using the segmented inertia weight adjustment strategy and the population initialization method of Tent chaotic mapping.Finally,the improved algorithm is applied to problem solving.The simulation results show that the proposed model can realize multi-UAV cooperative strike on the target in complex and multi-threat battlefield environment,and the improved PSO algorithm has faster convergence and higher accuracy.