In order to solve the problem of collaborative search of anti-radiation UAVs, the cost index of collaborative search route planning, which is “all-time-domain field-of-view coverage”, is established.Taking two UAVs as an example, the collaborative search route is planned, and an appropriate collaborative search strategy is formulated.Then, the first-order consensus algorithm is used to coordinate and control the speed of each anti-radiation UAV, so that the anti-radiation UAVs can arrive at the designated position at the same time.The effectiveness and feasibility of this method are verified by simulation.