Considering　the　problem　of　rapid　collection　and　reliable　transmission　of　emergency　information,　as　well　as　the　emergency　response　missions　and　natural　environment　characteristics　of　emergency　sites,　this　article　proposes　a　novel　unmanned　aerial　vehicle　(UAV)　path　planning　framework　that　considers　waypoint　and　motion.　First,　the　waypoint　planning　improves　the　reliability　of　the　uplink　and　the　downlink　data　transmission　to　the　greatest　extent　by　jointly　optimizing　UAVs　3-D　position　and　transmit　power　of　UAV　and　users＇　equipment　(UE).　Second,　the　motion　planning　allows　the　UAVs　to　traverse　all　waypoints　in　the　shortest　amount　of　time,　which　allows　more　time　for　data　collection　by　maximizing　the　acceleration　of　each　UAV.　Our　results　show　that　the　proposed　path　planning　algorithm　can　significantly　improve　the　normalized　Quality-of-Experience　(QoE)　index　and　effectively　shorten　the　flight　time　of　each　UAV　for　different　assignments.　Therefore,　the　method　proposed　in　this　article　can　effectively　solve　the　key　problems　in　the　technical　system　of　emergency　response　and　provide　a　scientific　decision-making　basis　for　the　post-disaster　emergency　response.