The　design　scheme　proposed　in　this　paper　includes　three　key　aspects,　path　planning　and　trajectory　optimization,　and　system　state　control.　First,　through　a　heuristic　algorithm　based　on　dynamics　optimization,　an　optimal　path　is　found　in　the　current　environment　that　meets　the　specific　constraints　of　dynamics.　Furthermore,　according　to　the　searched　path,　a　polynomial　function　is　used　to　express　its　trajectory,　and　the　trajectory　is　quickly　generated　by　the　method　of　the　smallest　displacement　derivative　for　optimization,　which　provides　input　to　the　quadrotor　UAV　control　module.　By　discussing　the　constraints　of　the　quad-rotor　UAV　flight,　it　is　transformed　into　a　convex　quadratic　programming　problem　for　solution.　Finally,　use　the　state　machine　to　manage　the　current　state　of　the　drone,　and　set　up　the　security　module　for　high-frequency　collision　detection.　The　ultimate　goal　is　to　allow　UAVs　to　independently　complete　motion　planning　in　unknown　environments.　©　2021　IEEE.