Target tracking is an important issue of social security. In order to track a target, traditionally a large amount of surveillance video data need to be uploaded into the cloud for processing and analysis, which put stremendous bandwidth pressure on communication links in access networks and core networks. At the same time, the long delay in wide area network is very likely to cause a tracking system to lose its target. Often, unmanned aerial vehicle (UAV) has been adopted for target tracking due to its flexibility, but its limited flight time due to battery constraint and the blocking by various obstacles in the field pose two major challenges to its target tracking task, which also very likely results in the loss of target. A novel target tracking model that coordinates the tracking by UAV and ground nodes in an edge computing environment is proposed in this study. The model can effectively reduce the communication cost and the long delay of the traditional surveillance camera system that relies on cloud computing, and it can improve the probability of finding a target again after an UAV loses the tracing of that target. It has been demonstrated that the proposed system achieved a significantly better performance in terms of low latency, high reliability, and optimal quality of experience (QoE).