针对无人机数量急剧增多、碰撞风险急剧增加的问题, 借助广播式自动相关监视系统(ADS-B)提供的位置、速度信息进行碰撞风险监测, 利用遗传算法实现无人机的自主避撞及避撞路径寻优。避撞策略综合考虑无人机性能约束、ADS-B参数的可信度及无人机飞行环境, 构建多约束参量的适应度函数, 进行多维度的最优避撞路径计算。针对双机和多机避撞情况, 进行无人机避撞仿真, 仿真结果表明, 遗传算法可以在实现无人机自主避撞的同时有效优化避撞路径。

To solve the problem that the number of UAVs increases sharply and the collision risk increases sharply,the position and velocity information provided by Automatic Dependent Surveillance-Broadcast (ADS-B) is used to monitor the collision risk,and the genetic algorithm is used to realize the autonomous collision avoidance and collision avoidance path optimization of UAVs.The collision avoidance strategy comprehensively considers the UAV performance constraints,the confidence of ADS-B parameters and the UAV flight environment,the fitness function with multi-constraint parameters is constructed for multi-dimensional optimal collision avoidance path calculation.As for the situation of two and multiple UAVs collision avoidance,the UAV collision avoidance simulation is carried out.The simulation results show that the genetic algorithm can effectively optimize the collision avoidance path while achieving autonomous collision avoidance for UAVs.