Abstract: To support the application of small drones in reconnaissance of battlefield areas, a new mode of cooperated ground vehicle and drone is proposed to complete multi-area coverage reconnaissance tasks. The ground vehicle serves as the mobile platform for the drone, carrying the drone to complete multi-area reconnaissance tasks. Through utilizing the 0-1 integer programming technology, a mathematical optimization model is established to optimize the vehicle's travel path and the drone's flight path for scanning the areas. A three-stage heuristic algorithm is designed to quickly solve the path planning problem of cooperated ground vehicle and drone. Finally, a case with 20 reconnaissance areas is applied to verify the advantages of the cooperated mode and the effectiveness of the three-stage algorithm.