Abstract: According to the strict aerodynamic heating and force environment, which had the characters of strong uncertainty of flight parameters and structure, the planning and optimization of multi-constraints trajectory were studied for high-dynamic unmanned aerial vehicle (UAV). The attack angle and the bank angle were the control parameters of high-dynamic UAV and the bank angle was taken as the main control parameter in the proposed method. Hence the optimization of trajectory was cast as the optimal control problem. The aims of the optimal control problem were to be achieving the minimum accumulated heat load of high-dynamic UAV and satisfying the flight bounds and terminal constraints. Maximum theory and amelioration adjacent extremism approach were adopted to solve the optimal control issue. At last, the effectiveness of the method was demonstrated by simulating on an example of high-dynamic UAV.