In order to calculate control volume, the traditional flocking control algorithm is necessary to obtain the position and velocity information of adjacent particles within the communication range, a novel flocking algorithm without the velocity information of the adjacent agent for UAV (unmanned aerial vehicle) was proposed. Firstly, all UAVs within the communication range were regarded as obstacles and the control quantity was obtained by the unified calculation method. Some related theories were proved based on Lyapunov stability. Afterwards, the improved flocking algorithm was applied to UAV swarm control by establishing a six-degree-of-freedom UAV linearization control model and the whole UAV swarm consisting of the tracking loop and guidance loop is stable through selecting appropriate control parameters. Finally, the effectiveness of the proposed algorithm is verified by the numerical simulations.