In the process of visual navigationbased autonomous landing, aimed at the problems that being influenced by its mechanical vibration and compound wind field, rotor unmanned aerial vehicle (UAV) is low in landing accuracy, and slow at speed by means of which swarm recycling safety is affected, a swarm autonomous landing algorithm based on fuzzy control and visual navigation is proposed in this paper. When the UAV swarm is disposed to the landing area, all UAVs can find their corresponding landing marks through the object detection algorithm and calculate the actual horizontal distance to corresponding landing mark by making use of pixel distance, and then the control command of making UAVs into alignment with landing point can be acquired by fuzzification, fuzzy reasoning and defuzzification to realize the accurate landing of swarm. The results of stimulation experiment and actual flight experiment show that the algorithm is highly robust and can improve the speed of the swarm landing of UAVs.