【摘要】 针对单架无人机跟踪单一目标问题，提出Lyapunov矢量场法和速度障碍法相结合的方法，保证UAV在执行跟踪任务时的安全。首先，建立无人机运动模型，通过基于Lyapunov矢量场法的航向控制使无人机能够收敛到极限环；其次，利用速度障碍法原理判断无人机与障碍物之间是否存在飞行冲突，推导出避障所需的航向控制量；最后，针对障碍物重叠情况，利用几何关系将重叠区域合并，再求解出航向控制量，完成对重叠威胁区域的避障。仿真结果表明，所提算法在单一障碍物和多障碍物的条件下，都能有效地跟踪目标并实现避障。更多还原

【Abstract】 Aiming at the problem of a single UAV tracking a single target, a method combining Lyapunov vector field method and velocity obstacle method is proposed to ensure the safety of UAV when performing tracking tasks.Firstly, the UAV motion model is established, and the UAV can converge to the limit cycle through the heading control based on the Lyapunov vector field method; secondly, the principle of the speed obstacle method is used to determine whether there is a flight conflict between the UAV and the obstacle, and the heading control amount required for obstacle avoidance is derived; finally, according to the overlapping situation of obstacles, the overlapping areas are merged by using the geometric relationship, and then the heading control amount is solved to complete the obstacle avoidance of the overlapping threat area.The simulation results show that the proposed algorithm can effectively track the target and avoid obstacles under the condition of a single obstacle and multiple obstacles.更多还原