Abstract: To reduce the number of unmanned aerial vehicles (UAVs) performing cooperative perception missions and eliminate the communication interference problem, a joint planning method for UAV number programming, target association and spectrum resource allocation is proposed, taking into account the limitation of UAV battery capacity. The method utilizes the coupling relationship between the number of UAVs, target perception order and spectrum resource to transform their joint planning problem into an energy consumption optimization problem, and a genetic forbidden hybrid algorithm is designed to solve this mixed integer nonlinear planning problem. The proposed algorithm combines the large exploration ability of the genetic algorithm and the local search advantage of the tabu search algorithm, with a higher global optimization ability. Numerical results show that the proposed algorithm requires the smallest number of UAVs to accomplish the same perception mission and the least energy consumption with better robustness compared to the other heuristics.