This paper presents an algorithm for planning waypoints for the operation of a surveillance mission using cooperative unmanned aerial vehicles (UAVs) in a given map. This algorithm is rather simple and intuitive; therefore, this algorithm is easily applied to actual scenarios as well as easily handled by operators. It is assumed that UAVs do not possess complete information about targets; therefore, kinematics, intelligence, and so forth of the targets are not considered when the algorithm is in operation. This assumption is reasonable since the algorithm is solely focused on a surveillance mission. Various parameters are introduced to make the algorithm flexible and adjustable. They are related to various cost functions, which is the main idea of this algorithm. These cost functions consist of certainty of map, waypoints of co-worker UAVs, their own current positions, and a level of interest. Each cost function is formed by simple and intuitive equations, and features are handled using the aforementioned parameters.