The Unmanned Aerial Vehicle (UAV) formation team collaboratively performing reconnaissance and tracking tasks is a hot research topic in recent years. As for the track planning problem of UAV formation in tracking target process, the optimal observation configuration of UAV formation collaboration in target tracking is derived, and the observation conditions are determined. Secondly, as for the target tracking problem of UAV, the construction steps of the navigation vector field are presented, and the control conditions of UAV formation for cooperative target tracking are described. On the basis of Lyapunovs navigation vector field, the collision avoidance function is established, and the collision avoidance potential field is constructed, which are superimposed with the navigation vector field to a form fusion vector field. Through experimental simulation, the fusion vector field constructed in this paper is proved to be effective in solving the obstacle avoidance problem of UAV formation in the process of collaborative target tracking.