MAV-UAV cooperative air combat is one of the main combat styles of UAV combat application in the future. Based on ACO algorithm, the maneuver decision algorithm of MAV and UAV is designed. According to the defects of optimization ability and long planning time of ACO algorithm, ACO-A star hybrid path planning algorithm is proposed. The improved algorithm takes the planned path of A star algorithm as the reference path, which can effectively improve the planning efficiency of ACO algorithm and improve the path quality with a certain probability. The UAV cooperative decision-making air combat maneuver method under the limited decision-making of MAV is designed, and the tactical strategy of cooperative operation between MAV and UAV is designed. Through simulation, the effectiveness of decision-making algorithm is verified, and the promotion effect of cooperative tactical strategy on combat is also verified.