In order to study the problem of UAV search and rescue task allocation in the collaborative search and rescue of UAVs and general aviation, a UAV task allocation model was established on the basis of previous research, and multi-objective optimization was considered. In previous studies, only search and rescue efficiency was considered. On the basis, the search and rescue cost, the number of drones used, and the balance of drone tasks are used as the objective function, and environmental factors such as terrain, wind, and the constraints of the drone battery capacity are considered in the model; in the algorithm for solving the model , Using the excellent NSGA-II algorithm to obtain the Pareto solution, which also uses the method based on opposite learning to increase the diversity and scale of the population, and finally analyze the sensitivity of the obtained solution, and give the actual result according to the result. Give reasonable suggestions on how to take different solutions in rescue scenarios.