Abstract: An improved artificial bee colony （ABC）algorithm is proposed based on hetero-dimensional memory evolution （HME）for the multi-unmanned helicopter time coordinated path planning in complex environments. A HME-knowledgebase is designed by using the memory mode and information interaction ability to guide the update of the population. The optimal process of the algorithm is avoid from falling into local optimum and the optimization efficiency of the coordinated flight paths is improved. The simulation results show that the HME-ABC algorithm can quickly plan safe and efficient coordinated flight paths for multi-UAHs.