In the field of detection and resolution of UAV conflict, when a UAV flies towards the target point at the speed re-selected by using the reciprocal velocity obstacle method, the problem of a too large turning angle will occur.To solve this problem, an improved method is put forward.Firstly, based on the analysis of the principle of Velocity Obstacle (VO) method, the conflict resolution problem is described in detail, and a mathematical model is established by using the geometric relationship.The relative velocity between the UAV and the intruder and the angle of relative position between the UAV and the intruder can be used to judge whether there is a conflict.Then, the Reciprocal Velocity Obstacle （RVO） method is used to re-select the UAV speed and predict the UAV position of the next moment, and the B-spline curve is used to smooth the conflict resolution path.In order to shorten the path, the strategy of not restoring the original track is adopted.Instead, the UAV maintains the current speed to fly towards the target point until it reaches the end point.The simulation results show that the algorithm is feasible and effective, and the problem of detection and resolution of UAV conflict is solved.