Abstract: For the problem of current coordination strategy of manned-unmanned aerial vehicles not suitable for UAV swarms, the characteristic of coordination for UAV swarms is analyzed and an task-oriented data link network architecture is proposed. On this foundation, an improved opportunistic planning and task allocation strategy is proposed. The integral control of UAV swarms cooperative engagement can be guaranteed by intelligent behavior strategy. Also, the strategy reduces the algorithm complexity. Meanwhile, it also reduces the computational demands of UAV, and is applicable for the small UAV swarms. It provides an idea or a method for future large-scale UAV swarms collaboration.