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中文摘要：
基于能量构型的思想提出一种控制算法有效的解决了飞行器飞往目标区域过程中地形回避问题。首先，通过构造抛物线形式的势能函数得到连续有界的控制力使飞行器自主飞往目标区域，再通过叠加高斯形式的势能函数避免飞行器路过威胁区域，同时可以避免群体飞行器之间发生碰撞。对所提出的控制算法，均通过Lyapunov稳定性理论验证了系统的稳定性。最后通过仿真验证了所提算法的有效性。
英文摘要：
An effective algorithm based on energy configuration is proposed,which can solve the terrain avoidance problem in the process of the unmanned flight vehicles flying to the target area.Firstly,use the hy-perboloid potential function via the Lyapunov’s second law to get continuous and bounded control which makes unmanned flight vehicles fly to the target area.Then,both terrain avoidance and collision avoidance are guaran-teed by superimposing regions of Gaussian potential function about these regions.For the proposed methodolo-gies,the stability of the closed loop system is both analyzed by the Lyapunov stability theory properly.Finally, the simulation results demonstrate the effectiveness of the proposed algorithm.
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