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When a UAV flies in the space with obstacles, the traditional A* algorithm has many problems in obstacle avoidance route planning, such as many search nodes, long search time, low search efficiency, uneven path, redundant path points, many turning points, and unsafe path caused by collision without considering the volume of UAV itself. An improved A* algorithm is designed. Firstly, considering the volume of UAV, a collision free extended sub node method is proposed. Secondly, the cost-function is optimized to reduce sub interval search, save search time and improve search efficiency. Then, Floyd algorithm is introduced to simplify the path and eliminate a large number of redundant points and turning points. Finally, the path is smoothed by spline interpolation cubic function, which eliminates the inflection point of the path and improves the smoothness of the path. The simulation results show that the path generated by the improved a* algorithm is more safe and efficient, and makes the flight action of UAV more continuous and smooth.