Abstract: For complex battlefield environments, it is especially important to ensure the safety of flight between UAV formations and reliable communication within the formation. This paper proposes an algorithm for collaborative avoidance using wireless ultraviolet light between drones in a bee colony drone formation. Combined with the above algorithm and using the characteristics of wireless ultraviolet light coverage, the avoidance strategy of ultraviolet virtual fence is designed. And by enhancing the vector field histogram method to improve the cost function of the state of motion of the drone when performing mutual avoidance. In addition, the algorithm uses the Unscented Kalman Filter to predict the flight status of nearby Uninhabited Aerial Vehicles. The simulation results show that in the avoidance simulations of the two prediction scenarios, the overall motion trajectory of this algorithm is smoother than that of the enhance vector field histogram method. At the same time, there is no obvious jitter when local avoidance occurs, the total length of the avoidance path is reduced by 3.46% on average, and the total time consumption is reduced by 18.94%. This verifies that the wireless ultraviolet cooperative avoidance algorithm in a bee colony drone formation is effective.