Abstract: 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 hyperboloid 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 guaranteed by superimposing regions of Gaussian potential function about these regions. For the proposed methodologies, 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.