Coordination among multiple ad hoc systems can extend the applications of the networks operating without any requirement of centralized devices. One of the coordination systems is formed by the collaboration of aerial ad hoc network and ground ad hoc network that performs cognitive coordination to form an effective guidance system despite operating with different configurations and dynamics. For guidance system, unmanned aerial vehicles form a cognitive map and relay them effectively to the intended node which is a part of ground ad hoc unit. The data sharing is difficult between the networks operating under different circumstances and configurations. An efficient approach is required to provide low-complex relaying for faster communications in these coordinated networks. One of the solutions can be found from the fuzzy formation of the problem that can be applied to some optimization algorithms to efficiently select the cognitive corridors intended for enhanced transmission. In this paper, a fuzzy-based bee colony optimization algorithm is proposed which operates over cooperative trust value, cognitive relaying value and situational awareness to provide efficient cognitive relaying between the two ad hoc units, and uses a cloud server to provide coordination between the nodes. The effectiveness of the proposed scheme and its applicability is tested using simulations. © 2017, Springer Science+Business Media New York.