The invention discloses an unmanned aerial vehicle cluster flight control cooperative autonomous
obstacle avoidance method and
system, and belongs to the technical field of unmanned aerial vehicle cluster flight control, and the method comprises the steps: collecting environment and
cluster state information by each unmanned aerial vehicle in a
cluster based on a dynamic
perception domain
distribution rule, and achieving the real-
time sharing of data through distributed communication; and performing multi-source fusion on the shared data by adopting a differential
processing strategy, eliminating redundancy and
noise, generating a unified environment-cluster fusion
state model, marking a high-risk collision area, converting an
obstacle avoidance strategy into a hierarchical flight control instruction, executing the hierarchical flight control instruction, and adjusting instruction deviation through feedback
verification. The sensing range / sampling frequency is dynamically adjusted through the adjacent
machine distance and the
communication quality, a non-overlapping and full-coverage sensing network is formed, the problem of coexistence of sensing redundancy and blind areas is solved, an emergency degree-
completion time limit-importance three-dimensional priority hierarchical decision mechanism is established, and balance between
obstacle avoidance safety and task efficiency is achieved in combination with dynamic
weight adjustment.