Aiming at the problems of trajectory coordination in the spatial domain and cooperative collision avoidance in the temporal domain during the UAV trajectory planning process, a multi-objective and multi-constraint based optimization algorithm for UAV trajectory planning is proposed. By analyzing the shortcomings of the artificial potential field method in path planning, the repulsive potential field function was improved and integrated into the virtual obstacle method. The improved artificial potential field method is used as the implementation algorithm to study and simulate the UAV trajectory planning under multi-objective and multi-constraint conditions. The results show that the efficiency and performance of the algorithm can be further improved by adjusting the structure of the loop body and the algorithm to improve the reasonableness of the trajectory and the realism of the trajectory.