For solving the airplane-to-obstacle collision avoidance problem, two methods are necessary, that is, one for detecting a collision threat and the other one for synthesizing a safe manoeuvre avoiding threating obstacles. In the article, a method for detecting a threat of collision to obstacle was presented for the case of many obstacles moving within the neighbourhood of the airplane. Methods for optimal anti-collision trajectory synthesis and for proving the workability of such a result were proposed too. A solution of an optimisation problem, obtained by the swarm of particles optimization (PSO) was used for trajectory synthesis. A form of quality index was proposed for this task and the analyses of its behaviour for several values of weighting factors were presented. Results of simulations of flight along an optimal, anti-collision manoeuvre trajectory proved that such a manoeuvre is workable.

为了解决飞机与障碍物的避碰问题，需要两种方法，一种是检测碰撞威胁，另一种是合成安全机动避开威胁障碍物。文章针对飞机附近有许多障碍物移动的情况，提出了一种检测障碍物碰撞威胁的方法。还提出了最佳防碰撞轨迹合成方法和证明该结果的可行性的方法。通过粒子群优化 (PSO) 获得的优化问题的解决方案用于轨迹合成。为这项任务提出了一种质量指数的形式，并分析了它在几个加权因子值下的行为。沿最优方向飞行的模拟结果，