In this paper, we address the problem of enclosing an arbitrarily moving target in three dimensions by a single pursuer, which is an unmanned aerial vehicle (UAV), for maximum coverage while also ensuring the pursuer's safety by preventing collisions with the target. The proposed guidance strategy steers the pursuer to a safe region of space surrounding the target, allowing it to maintain a certain distance from the latter while offering greater flexibility in positioning and converging to any orbit within this safe zone. Our approach is distinguished by the use of nonholonomic constraints to model vehicles with accelerations serving as control inputs and coupled engagement kinematics to craft the pursuer's guidance law meticulously. Furthermore, we leverage the concept of the Lyapunov Barrier Function as a powerful tool to constrain the distance between the pursuer and the target within asymmetric bounds, thereby ensuring the pursuer's safety within the predefined region. To validate the efficacy and robustness of our algorithm, we conduct experimental tests by implementing a high-fidelity quadrotor model within Software-in-the-loop (SITL) simulations, encompassing various challenging target maneuver scenarios. The results obtained showcase the resilience of the proposed guidance law, effectively handling arbitrarily maneuvering targets, vehicle/autopilot dynamics, and external disturbances. Our method consistently delivers stable global enclosing behaviors, even in response to aggressive target maneuvers, and requires only relative information for successful execution.

翻译：本文研究了单个追捕者（即无人飞行器）对三维空间中任意运动目标实现最大覆盖包围的问题，同时通过防止与目标碰撞确保追捕者的安全性。所提出的制导策略将追捕者引导至目标周围的安全区域，使其与目标保持特定距离的同时，具备更大的定位灵活性，并能收敛至该安全区域内的任意轨道。本方法的独特之处在于：采用非完整约束对车辆进行建模，将加速度作为控制输入，并利用耦合交战动力学精心设计追捕者的制导律。进一步地，我们利用李雅普诺夫屏障函数作为有力工具，将追捕者与目标间的距离约束在非对称边界内，从而确保追捕者在预设区域内的安全。为验证算法的有效性和鲁棒性，我们在软件在环仿真中实现了高保真四旋翼模型，并在多种具有挑战性的目标机动场景下进行了实验测试。结果表明：所提出的制导律能够有效处理任意机动目标、飞行器/自动驾驶动态以及外部扰动，展现出极强的抗干扰能力。即便面对激进的机动目标，该方法仍能稳定实现全局包围行为，且其成功执行仅需相对信息。