针对非合作型动态障碍研究了无人机自主防碰撞问题。首先对无人机自主防碰撞问题进行描述,将动态障碍的无人机防碰撞问题分为冲突预测与规避控制两部分;然后定义了动态障碍碰撞冲突预测规则,在二维动态碰撞冲突预测的基础上提出一种动态三维碰撞冲突预测算法;最后基于最优化理论设计了无人机自主防碰撞规避策略。仿真结果表明,所提方法能有效避免无人机与非合作型动态障碍之间的碰撞。 Aimed at non-cooperative dynamic obstacle, this paper studies the problem of autonomous anti-collision of UAV. First of all, this paper describes the problem of autonomous anti-collision of UAVs, and divides the problem of dynamic obstacle of anti-collision into two parts: collision prediction and avoidance control. Then, the rules of dynamic collision collision prediction are defined. Based on the proposed three-dimensional dynamic collision prediction algorithm; Finally, based on the optimal design of the UAV avoid collision avoidance strategy. Simulation results show that the proposed method can effectively avoid the collision between UAV and non-cooperative dynamic obstacles.