Post-disaster situations pose unique navigation challenges. One of those challenges is the unstructured nature of the environment, which makes it hard to layout paths for rescue vehicles. We propose the use of Uncrewed Aerial Vehicle (UAV) in such scenario to perform reconnaissance across the environment. To accomplish this, we propose an optimization-based approach to plan a path for the UAV at optimal height where the sensors of the UAV can cover the most area and collect data with minimum uncertainty.