Aiming at the path planning problem of an unmanned aerial vehicle (UAV) in a complex unknown environment. this paper proposes a cooperative path planning algorithm for multiple UAVs. Using the local environment information. several rolling path plannings are carried out by the Artificial Potential Field Bidirectional-Rapidly exploring Random Trees (APF B-RRT*) algorithm. https://stnicksknives.shop/product-category/fixed-blade/