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Optimal trajectory design for mobile UAV is an important issue in UAV‐based communications. Specifically, optimal path planning is crucial for UAVs operating for data collection from ground‐based sensors and caching scenarios. UAV trajectory planning is mostly effected by the dimension of the target area, flight duration of the mission, QoS requirement by the ground users, and energy constraints. Apart from physical parameters, UAV trajectory optimization is analytically a challenging problem because it involves a fixed number of optimization variables related to the UAV locations [1]. In addition, UAV trajectory optimization requires coupling between different QoS metrics in wireless communication with the mobility of UAV. Recently, there have been a number of studies on the joint trajectory optimization of UAV with its wireless communication metrics, such as throughput maximization in [50–52] and energy‐efficient UAV communication in [53,54].