针对无人机编队对地面目标追踪问题，利用虚拟结构结合基于行为的控制方法提出了新的分布式无人机编队策略，编队无人机均匀分布在以虚拟或者实体领航者为球心的球面上。由李雅普诺夫向量设计出控制量引导编队对地面目标进行追踪，在有障碍物的环境下通过将障碍物转化为椭圆形的势能场，并通过计算切线向量作为速度方向，得到两种平滑的避障轨迹，并且给出了在无人机编队中的避障轨迹选择策略，仿真实验验证了策略和算法的有效性。

To the issue of tracking the ground moving target by formation of Unmanned Aerial Vehicles (UAVs), this paper presents a new strategy for the formation control in dynamic environment by using virtual structure together with behavior-based control method, with the UAVs distributed uniformly on a spherical surface with the virtual or actual leader as the center. A controlling variable designed by Lyapunov vectors is used for guiding the UAV formation to track the ground target. The obstacles are transformed into elliptic potential fields, and the tangent vector leads the UAV to avoid the obstacle with smooth trajectories. After passing the obstacles, the formation can be reconfigured and continued to track the target. Simulation result verifies the effectiveness of the proposed approach.