Multi-unmanned aerial vehicle coordination and collision avoidance guide planning method

The invention discloses a multi-unmanned aerial vehicle coordination and collision avoidance guide planning method. The method comprises the following steps: (1) globally planning based on a PH curve flight path; (2) carrying out multi-unmanned aerial vehicle collision detection; (3) carrying out multi-unmanned aerial vehicle collision avoidance planning; (4) generating local planning by adopting a Legendre pseudo-spectral method based on a mutual speed collision avoidance principle; and (5) combining the global planning and the local planning to generate global on-line planning. With the adoption of the method, the problems that the cooperation efficiency of a plurality of unmanned aerial vehicles cannot be played effectively as an effective coordination policy is not adopted in collision avoidance guide flight among the plurality of unmanned aerial vehicles are solved.