Aerial Landing Trajectory Planning of Sub-mother UAV System Based on PSO Algorithm Considering Aerodynamic Interference

For the rotary-wing sub-mother UAV system, aerial landing trajectory planning of the sub-UAV still faces challenges due to aerodynamic interference between UAVs. This paper proposes a trajectory planning solution based on particle swarm optimization (PSO) algorithm considering the aerodynamic interference between the sub-mother UAV system. Through the CFD simulation of the sub-mother UAV system, the distribution characteristics of the aerodynamic interference with relative height and relative projection position are systematically researched. Based on the CFD simulation results, the aerodynamic interference evaluation model and the aerodynamic interference cost function of the trajectory are constructed. By constructing the comprehensive cost evaluation function for the aerodynamic interference cost, trajectory length and kinematic performance of the trajectory, the aerial landing trajectory planning problem is transformed into a multi-constrained optimization problem, and the optimal trajectory planning is realized by using the adaptive PSO algorithm, which is based on PSO algorithm, using adaptive parameters to improve the ability of jumping out of local optimal solution. The proposed trajectory planning method is validated in simulation tests. As a result, the trajectory planning strategy in this paper has better global optimization ability, and can realize the comprehensive consideration of safety, rapidity and dynamic feasibility of the trajectory.