Aiming at the multiple traveling salesman problem (MTSP) of multiple unmanned aerial vehicles (UAVs) cooperative searching for multiple targets, a mission planning model of multiple UAVs cooperative reconnaissance with multiple targets, multiple bases and communication constraints is established. Considering the time required to complete the task, the length of the total search path and the balance of the task, the quantum genetic algorithm is used to optimize it. The simulation is carried out for the reconnaissance target limited by the communication type. The results show that the model can obtain the optimal route to complete the reconnaissance mission.