Research on UAV Target Tracking Rule Planning Based on Lyapunov Vector

To solve the problem of UAVs tracking targets at sea, firstly, the target-based tracking system model and ship kinematic model are established, and the target-based tracking trajectory is designed based on the Lyapunov vector field guidance method. Secondly, considering the requirements of actual application scenarios and on-board mission equipment, the vector field transformation and rotation functions are newly added so that the planned trajectory can track the moving target in real time. Finally, an anti-target manoeuvre vector field optimization method is proposed to achieve continuous trajectory tracking under the condition of target escape manoeuvre. Simulation results show that the reference trajectory generated by the proposed method is smooth and continuous, has fast convergence, and has strong engineering practicality.