This paper proposes a UAV cooperative path planning method based on improved two-way rapid expansion random tree (RRT-Connect) algorithm.Firstlyin view of the low efficiency of the basic RRT-Connect algorithm and the limitation of random samplingan improved RRT-Connect algorithm is proposed.By introducing the target gravity and controlling the sampling rangethe invalid samplings are reduced and the convergence speed is improved.The using of chaotic sequences ensures the sampling nodes have a certain randomness.Based on the improved algorithmthe constraints of the path planning model are considered and the artificial potential field is introduced to propose a collaborative path planning method.Simulation experiments verify that the improved algorithm is superior to the original algorithmand the effectiveness of the collaborative path planning method is proved.