Aiming at the demand of dynamic power transmission for unmanned units using wireless power transmission technology, this paper selects microwave wireless power transmission as the power transmission method. The necessity of setting up an energy transmission relay node between the transmitting node and the receiving node in the wireless energy transmission, as well as the dynamics of the wireless power transmission link caused by the continuous movement of the unmanned unit are considered. A multi-objective planning model for dynamic wireless power transmission links including a transmitter, a receiver, and mobile wireless power relay units is constructed, in which the use of different power transmission relay node deployment solutions brings about changes in indicators such as power transmission efficiency and system cost. On this basis, according to the characteristics of the decision variables, two different evolutionary algorithms are used to solve the multi-objective planning model of the dynamic wireless power transmission link by a two-layer iterative solving method. The solution results verify the effectiveness of the model and the effect of microwave energy relay transmission on improving the average power transmission efficiency of dynamic wireless power transmission links.