To reduce the radiation risk of mobile radar/infrared cooperative tracking, a scheduling approach of mobile radar/infrared radiation control was proposed. Firstly, a target tracking model was established based on the moving state of the platform and the target, and the tracking accuracy was predicted by using the cubature Kalman filter. Secondly, the radar radiation model was established by introducing the radiation effect, and the prediction methods of the radar radiation status and the system radiation cost were given. Then, the objective function of non-myopic scheduling was constructed with tracking accuracy satisfying task requirements as constraints and non-myopic radiation cost minimization as optimization objectives. Finally, a decision tree search algorithm was designed to solve the problem of high computational complexity. The simulation results show that the proposed scheduling approach has better radiation control effect than the myopic scheduling approach. When the decision step is 3, the radiation cost decreases by 26.5%. Compared with the fixed position scheduling approach, the proposed approach can improve the tracking performance and reduce the radiation cost. When tracking low-speed targets, the tracking error and radiation cost are reduced by 29.9% and 30.5%, respectively.