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Abstract

In order to realize the target tracking and control of multi-rotor unmanned aerial vehicles and ensure that the convergence trajectory is smooth and easy to be realized in engineering, this paper based on Lyapunov vector field method, established the navigation vector field as the online tracking control guidance law of multi-rotor, and gave the flying speed of the UAV at any point in space. The multi-rotor UAV can converge to the tracking ring with the target as the center of the circle. Considering the uncertainty of sensors detection, extended Kalman filter is used to reduce the detection error and predict the trend of target motion. The simulation results show that the guidance law has a good tracking effect on the target in 2D and 3D dimensions.