In this paper, an overview of the challenges for the Unmanned Aerial Vehicles path planning for the inspection of olive orchards will be given. Standard approaches, limitations and requirements for specific types of applications such as olive fruit detection and yield prediction are analyzed. Possible flight planning approaches are compared along with their advantages and disadvantages. An optimal solution is proposed and expressions for estimating the recorded canopy area of an individual tree are derived. The values calculated in this way using the described fruit detection method allow for the estimation of the total yield.