In order to solve the task allocation problem of UAV cluster searching cooperatively,based on beetle antennae search-particle swarm optimization(BSO)algorithm,a hybrid BSO Beetle Antennae Search(BSO-BAS) algorithm is designed.The new algorithm overcomes the shortcomings of Particle Swarm Optimization (PSO)algorithm,which is easy to fall into the local optimal solution and has unstable searching.Based on the model of Multi-Traveling Salesman Problem (MTSP),a UAV cluster task allocation model with multiple optimization objectives and constraints is established.Compared with the original optimization algorithm,the feasibility and stability of the proposed algorithm for UAV cooperative search task allocation are verified by experimental simulations.