Abstract: This article mainly for unmanned aerial vehicle (UAV) route planning problem, based on A-Star heuristic search algorithm, an optimized by binary heap new path planning algorithm.In this article, compared with the previous route planning algorithm, we rethink the threat model, and according to the aircraft's own performance limit, redesigned the cost function and heuristic function.And A-Star algorithm is optimized, in the final and the final result for the smooth processing.The optimized algorithm is compared with the original algorithm greatly improve the search efficiency, improves the search speed, reduce the memory consumption, available and more realistic significance.Experimental results also show that the algorithm can make the aircraft in the allowed scope of the aircraft in the performance, bypass the threatened area, quick to find the best route the destination point.