The invention relates to a collaborative autonomous
perception and navigation method in a denial environment, which comprises the following steps: constructing a self-organizing robust communication
system to realize dynamic networking and
data sharing among multiple unmanned aerial vehicles in the denial environment, and adopting a self-adaptive network protocol to realize automatic configuration of a communication network under
network topology change or communication interference; based on a multi-
sensor fusion sensing system, environment information and motion information of the unmanned aerial vehicle are processed through a data fusion
algorithm; a single unmanned aerial vehicle constructs a reward function based on unmanned aerial vehicle
energy consumption, an exploration area, a path overlapping degree and a path danger degree, executes autonomous
perception and exploration in an unknown environment and completes mapping; the distributed multiple unmanned aerial vehicles carry out individual communication and game playing in the unmanned aerial vehicle cluster according to map information, respective positions and working states, task distribution is achieved, and path planning and action
decision making are completed. According to the invention, autonomy and
collaboration of the unmanned aerial vehicle in a denial environment are improved, and an
effective solution is provided for navigation in a complex environment.