5结束语

本文分别基于模型预测控制方法和群智能规则研究了多无人机协同感知与防碰撞控制方法。主要结论有：

（1）构建了多无人机协同感知与防碰撞系统结构，无人机通过信息共享，既可以实现对环境的全面感知，还可以使协同系统总体决策最优。

（2）基于模型预测控制和群智能规则的多无人机协同防碰撞方法均能完成防碰撞目标，且前者控制精度更高，后者具有更好的实时性。

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