As a typical cooperative control problem tight sequencing arrival of multiple unmanned aerial vehicles (UAVs) has great potential significance for the UAVs in cooperative searching tracking attacking and evaluation.Laguerre diagram was introduced from computation geometry for path planning．When any two closest threats do not intersect the generated initial paths will pass through the interspaces between them.Velocity was periodically adjusted to improve the time precision of arrival.Simulation results show that the tight sequencing arrival of multiple UAVs can be realized with preferable robustness and precision by the proposed control method.