Abstract: In order to improve the measurement and control capability of field system for reentry spacecraft's landing section, a UAV measurement cluster for this task and a cluster self-organizing control method are designed. This method is divided into three behavior rules: initial configuration and standby behavior, tracking behavior and collection and recovery behavior. The individual control under each behavior rule is achieved by proportionally combining multiple artificial potential functions, the composition of the control force under each behavior rule and the design scheme of basic artificial potential function are introduced in detail. Experiments confirmed the effectiveness of this control method.