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The article combines the behavior-based method and the virtual pilot approach and proposes a new UAV hybrid formation technology to solve the problems of multi-UAVs in complex battlefield environment, such as the formation, obstacle avoidance and collision avoidance. Four basic behaviors are designed for UAV formation, which are running to the target, keeping formation, avoiding collision and avoiding obstacles. By adjusting the behavior weight parameters of UAV formation, the maneuver of UAV formation is controlled. The adaptive particle swarm optimization algorithm is applied to optimize the behavior weight parameters, then the basic behavior of the formation UAV is vector synthesized. And then control the maneuvering of the drone after normalization. Simulation experiment results show that this method can make the UAV group complete the tasks of formation more effectively. Besides this method improves the maneuverability of multi-UAV formation and promotes the development of multi-UAV hybrid formation technology.