随着低空经济的兴起，无人机的应用场景不断扩展，尤其在应急救援领域发挥着重要作用。无人机凭借其高机动性、远程控制等优势，成为灾害监测、搜索定位、物资投递和通信保障等环节的关键工具。本文全面综述了应急救援领域的无人机路径规划的建模方法及其最新研究进展，旨在为相关领域的研究者提供全面的理论参考和技术指导。在文中首先概述了应急救援场景以及无人机在不同应急救援场景中的应用需求。然后，本文系统总结了无人机路径规划的建模方法，包括动态模型和任务模型，并详细分析了路径规划建模中的约束条件、优化目标及求解算法等要素。最后，探讨了无人机路径规划在应急救援中面临的挑战与机遇，指出技术发展、多无人机协同作业及多领域融合是未来发展的机遇。本文的研究为无人机路径规划建模的进一步发展和应用提供了理论支持和实践参考。

With the rise of the low-altitude economy, the application scenarios of unmanned aerial vehicle (UAV) are constantly expanding, and it play a significant role, especially in the field of emergency rescue. By virtue of its advantages such as high mobility and remote control, UAV has become key tools in various aspects of emergency rescue, including disaster monitoring, search and positioning, material delivery, and communication support. This paper comprehensively reviews the modeling methods of UAV path planning in the field of emergency rescue and the latest research progress, aiming to provide comprehensive theoretical references and technical guidance for researchers in related fields. In this paper, an overview of emergency rescue scenarios and the application requirements of UAV in different emergency rescue scenarios is first presented. Then, this paper systematically summarizes the modeling methods of UAV path planning, including dynamic models and task models, and conducts a detailed analysis of the elements such as constraint conditions, optimization objectives, and solution algorithms in path planning modeling. Finally, the challenges and opportunities faced by UAV path planning in emergency rescue are explored, and it is pointed out that technological development, collaborative operations of multiple UAV, and the integration of multiple fields are the opportunities for future development. The research of this paper provides theoretical support and practical reference for the further development and application of UAV path planning modeling.