An improved tentacle-based bank-angle transient method that requires less computation and provides effective feedback is proposed to offer a new choice for reentry gliding hypersonic vehicle maneuvering guidance. The longitudinal guidance strategy of hypersonic vehicles is applied to track standard trajectories, and the improved tentacle-based bank angle transient lateral strategy avoids static or dynamic no-fly zones. The proposed lateral strategy generates three tentacles for detection, addresses numerical heading angle limitations or no-fly zone constraints, and provides control commands through a time-counting filter. Dispersed cases are verified for static no-fly zones, and a warning area is proposed to avoid dynamic no-fly zones. For dynamic no-fly zones, the velocity and initial position of the no-fly zone are discussed in terms of the impact on the guidance. Finally, the guidance strategy is tested on a high-performance Common Aero Vehicle model in many flights, and all results for the constraints and computation time indicate that the improved tentacle-based guidance method is effective for avoiding no-fly zones where some information is unknown. INDEX TERMS Tentacle-based guidance, no-fly zone(NFZ), flight constraint, warning area, hypersonic vehicle.