Aiming at the problem of multi-UAV cooperative target capture,and considering that each UAV reaches the capture position at the same time,a two-layer solution architecture for task planning of multi-UAV cooperative capture is proposed on the basis of UAV kinematics constraints.In the task coordination layer,by improving the hybrid Particle Swarm Optimization (PSO) method and taking the minimum time for each UAV to reach the designated capture point as the goal,the multi-objective capture scheme is given by optimizing the scheduling.In the route planning layer,the initial state and kinematics constraints of UAVs are considered,and Dubins curve is adjusted to realize that each UAV reach the capture position at the same time.Simulation results demonstrate the effectiveness of the proposed method.