This invention provides a method, apparatus, device, and medium for landing unmanned aerial vehicles (UAVs). The method includes: determining whether the UAV meets the necessary set of conditions for landing in the
hangar based on the
hangar health status vector and the UAV's own self-sensing status vector, and generating landing control commands for the UAV, including landing commands at the original
hangar or at an alternate landing site; controlling the UAV to fly to the original hangar and land according to the landing procedure based on the original hangar landing command and a preset landing procedure at the original hangar; and generating flight path information for the UAV from its current position to the alternate landing site based on the alternate landing site landing command and alternate landing site information, so that the UAV can fly to the alternate landing site and land according to the flight path information. This solution can significantly improve the safety of UAV return landing and reduce the risk of
crash and damage when the return point is unavailable.