Abstract: To solve the path planning problem of self-organized UAV swarm in complex environment, a control approach based on rule-based system and a multi-objective optimization parameter tuning approach are proposed. The control model generated by these approaches can deal with path planning problem in complex environment (including convex obstacles, square obstacles, and tunnel obstacles) with multi targets. Simulation experiments are designed to test the performances of this approach. Comparison methods include some state of the art methods.