In order to solve the problem of UAV’s direction perception and collision prevention in the limited radio communication environment, we use wireless ultraviolet (UV) communication as an auxiliary communication method in UAVs. We improve the traditional artificial potential field (APF) method, design a UV- MIMO model installed on the UAV, and propose the improved artificial potential field (IAPF) method. On this basis, the determination of the threat source direction in IAPF algorithm is further simplified, and the improved artificial potential field based on ultraviolet MIMO (IAPF-UVMIMO) algorithm is proposed. Experimental results show that IAPF effectively solves the problems of unreachable targets, path oscillations and local minimums that exist in the traditional artificial potential field method. In addition, IAPF-UVMIMO also improves the tolerance of the threat source direction. Compared with IAPF, the number of collisions with actual collision threats is reduced by 22.6%.

为了解决无人机在受限无线电通信环境下的方向感知和防撞问题，我们将无线紫外（UV）通信作为无人机中的辅助通信方式。我们改进了传统的人工势场（APF）方法，设计了安装在无人机上的UV-MIMO模型，并提出了改进的人工势场（IAPF）方法。在此基础上，进一步简化了IAPF算法中威胁源方向的确定，提出了改进的基于紫外MIMO（IAPF-UVMIMO）算法的人工势场。实验结果表明，IAPF有效地解决了传统人工势场法存在的目标不可达、路径振荡和局部极小问题。此外，IAPF-UVMIMO还提高了对威胁源方向的容忍度。与 IAPF 相比，具有实际碰撞威胁的碰撞次数减少了 22.6%。