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。

The autonomous collision avoidance problem of Unmanned Aerial Vehicle (UAV) against non-cooperative dynamic obstacles is studied, including the decision making and control.First of all, the autonomous collision avoidance problem is described, and it is divided into two parts of collision prediction and avoidance control.Then, the rules of the collision prediction are defined, and a three-dimensional algorithm is proposed for dynamic collision prediction based on the two-dimensional collision prediction.The collision avoidance strategies are designed finally by using the optimization theory.Simulation results demonstrate the validity of the proposed method.