The autonomous obstacle avoidance capability in complex dynamic environment has become a key problem for UAVs.Aiming at the shortcomings of the existing obstacle avoidance algorithms,a hybrid obstacle avoidance strategy is proposed based on the velocity obstacle method,which can adjust the direction and speed at the same time.Firstly,according to principle of the velocity obstacle method,it is judged whether there is flight conflict between the UAV and the dynamic obstacle.Then,in the cases of single dynamic obstacle and multiple dynamic obstacles,the relationship between the course and speed that need to be adjusted for UAV obstacle avoidance is accurately deduced by mathematical formula.Under the constraint of objective function,the optimal obstacle avoidance strategy is solved.The simulation results show that the proposed algorithm is effective and efficient under single and multiple dynamic obstacles.