target tracking and obstacle avoidance using modified potential field and lyapunov guidance vector field

this paper discussed and introduced a new path-planning algorithm, based on improved potential field and Lyapunov guidance vector field. According to the requirements of the unmanned aerial vehicle for tracking and avoidance obstacle mission, a real-time method is proposed by combining the Lyapunov guidance vector field and improved potential flow field, eventually, the proposed method used for coordinated tracking and obstacle avoidance application. The features of this newly introduced algorithm are real-time, fast computing and obstacle avoidance capability which causes the algorithm to perform well in complex environments and applications like coordinated tracking of unmanned aerial vehicles. Improved potential flow field (IPFF) primarily provides avoidance obstacle feature and Lyapunov guidance vector field provides tracking feature for this newly introduced algorithm. To achieve the mission of tracking the target and avoid the obstacle at the same time, the guidance vector field by LGVF is taken as the original vector field of IPFF. The results prove that the new hybrid and combined method are applicable to complex environments and complex application like coordinate tracking of moving target can be used in real-time applications.