To address the issues of large computation scale and low efficiency of multi-UAV cooperative planning,a Partheno-/Bi-Parent Genetic Algorithm (PBGA) solving model is proposed.This algorithm features an improved encoding method and a single-double parent combined evolutionary strategy.The population evolution is carried out by a partheno-genetic operator,while the bi-parent genetic operator helps to escape from local optima.Simulation results demonstrate the convergence of PBGA.In small-scale and large-scale optimization scenarios,PBGA reduces the convergence iterations by 70% and 64% respectively compared with the traditional genetic algorithm.This approach holds significant reference value for addressing multi-UAV cooperative problems.