This paper studies a distributed heuristic algorithm for the generation and adjustment of the formation of homogeneous multi-rotor UAVs to improve the applicability and flexibility of multi-rotor UAV dense formation. Each drone makes an independent decision using a multi-agent framework based on the received satellite positioning, communication information, and obstacle avoidance sensor information. For the motion mode of a multi-rotor UAV, the action decision method in a dynamic environment is selected, avoiding complicated problems such as sensor handover and prejudging the moving trajectory. The Hungarian algorithm is used to match the target positions to improve the formation efficiency. The distance between each drone and each target position as the element in the cost matrix can ensure that the path does not cross, which is used for the first match when forming the team; the cost matrix element is set to the square of the distance, which can be used for formation transformation and dynamic adjustment. Through simulation, it is verified that the algorithm with action decision and target position matching can be used for dense formation of homogeneous multi-rotor UAVs and that the process is safe and efficient.