An Optimal Trajectory Planning for the Aerial Recovery of UAVs

Aiming at the trajectory planning of multi-UAV aerial recovery, this paper simplifies the dynamic models of carrier aircraft and sub-UAVs in the recovery process, establishes the kinematics simulation model and trajectory planning mathematical model of aerial recovery process, and analyzes the performance constraints of UAV in the planning model. Aiming at the problem of optimal trajectory planning for single-aircraft aerial recovery, the method of finding the shortest trajectory is given by using Dubins trajectory method. On this basis, B-spline curve method is used to smooth the UAV altitude curve, so that the obtained UAV trajectory acceleration can be realized continuously. On this basis, two different schemes of multi-aircraft aerial recovery are proposed, and the simulated annealing algorithm is used to optimize the order of UAV recovery, and the optimal trajectory of multi-aircraft aerial recovery is obtained.