研究了无人机防撞冲突检测与威胁级别评估方法, 建立了航向角控制、速度控制、高度控制以及航向角与速度组合控制等多种不同的防撞控制策略; 建立了自动防撞多目标代价函数模型以及多目标最优决策方法。仿真结果证明了该方法的有效性和较好的实用性。

A method for conflict detection of collision avoidance and assessment of collision threat levels are presented in this paper.The principle of collision avoidance was introduced firstly.In order to obtain an effective result different strategies for collision avoidance were established based respectively on heading control velocity control height control and the combination of heading and velocity.The models of multi-objective cost function and the methods of optimal decision-making for automatic collision avoidance were also established.The simulation results demonstrated the effectiveness and practicability of the proposed methods.