在动态不确定环境下，考虑威胁障碍物的机动性和UAV携带传感器的感知误差，可有效地提高UAV执行任务的安全性和可靠性。在三维速度障碍模型的基础上，将动态不确定性通过威胁障碍物速度矢量方向偏差进行表示，建立了三维动态不确定速度障碍的模型，并提出一种基于空间障碍球冠的三维动态不确定UAV自主避障算法。最后，将提出的三维动态不确定UAV自主避障算法应用于PH曲线的在线路径规划，仿真结果验证了方法的有效性和可行性。

In dynamic uncertain environment, the security and reliability of UAVs executing missions can be improved greatly by taking the mobility of the threatening obstacle and the detection error of sensors onboard the UAVs into consideration. On the basis of 3-D velocity obstacle model, the dynamic uncertainties is expressed by the orientation error of threatening obstacle's velocity, and the 3-D Dynamic Velocity Obstacle Model (3-DDVOM) is established. A 3-D dynamic uncertain autonomous collision avoidance algorithm based on 3-DDVOM is presented. Finally, the proposed 3-D autonomous collision avoidance method for UAV is applied to online path planning of Pythagorean Hodograph (PH) curve, and the simulation results show the effectiveness and feasibility of the method.