Self-adaptive navigation and obstacle avoidance method in formation flight of unmanned aerial vehicles

The invention relates to the technical field of unmanned aerial vehicle navigation, and discloses adaptive navigation in unmanned aerial vehicle formation flight, comprising: a navigation control module for adjusting a flight path and speed in real time; the sensor module is used for sensing the surrounding environment; and the autonomous decision module is used for processing sensor data and planning a flight path, and can dynamically adjust the flight path, speed and course of the unmanned aerial vehicle according to real-time environment and task requirements so as to ensure the safety and smoothness of formation flight. The flight path and speed of the unmanned aerial vehicle are adjusted in real time through the navigation control module, so that the unmanned aerial vehicle can quickly adapt to environment changes and task requirements, the safety and smoothness of formation flight are ensured, and the sensor module comprises various sensors, so that the surrounding environment and the unmanned aerial ve