The cooperative task/track planning problem of UAV has many complex constraints. In this paper, the solution of parallel ant colony algorithm is proposed. Firstly, solution space of UAV track is constructed by ant colony algorithm. Then, the integer coding based genetic algorithm is proposed for the solution space, coding the UAV, the target task and the alternative track to improve the efficiency of the solution. The SEAD task of unmanned aerial vehicle (UAV) is determined for simulating the single task in this paper. The experimental results show that the parallel ant colony algorithm can effectively solve the UAV cooperative task/track planning problem, satisfy all kinds of constraints and improve the feasibility of the problem solution