无人机在飞行空域中遭遇动态碰撞威胁时，需要进行有效的规避。为改善现有方法对合作型无人机动态威胁规避的协作性考虑不足，首次提出将合作系数引入回避策略，采用最优化理论求解了合作型无人机规避动态威胁的最优规避策略，从而有效实现对多种动态威胁的有效规避。仿真验证表明，所提方法能有效实现对合作型无人机动态威胁的碰撞规避。

The UAVs need to avoid the dynamic threat effectively while encountering it in the flight airspace.For solving problem of the cooperated UAVs' autonomous avoidance of dynamic threats,a cooperative parameter is introduced into collision avoidance strategy,and the optimization theory is used for computing the optimum collision avoidance strategy.Therefore,it can realize effective avoidance to multiple types of dynamic threats.Simulation result demonstrates that the method can implement the cooperated UAVs' real-time evading from dynamic threats.