A path planning method based on the hierarchical decomposition strategy was proposed for multi-UAV cooperative path planning in the battle field.First,the planning space was obtained by means of skeletonization algorithm,and K backup paths were generated for each UAV based on Evolutionary Multiple Route Planner(EMRP) algorithm.The EMRP algorithm was used together with mathematical morphology for solving the problem of multi-UAV cooperative path planning.The initial paths generated were smoothed,and the feasible paths that satisfied the maneuvering requirement of the UAV was obtained.Then a cooperative planning model was established,which could plan a feasible path for each UAV,which meeted both the requirements of time-coordination and the minimum cost.The simulation shows that this method is viable.