In UAV route planning problem, in view of the lack of A-star traditional algorithm in the route planning, this paper proposes a general search algorithm which increase the constraint conditions of A-star, and applies the algorithm to the dynamic route planning. The algorithm solved a big space in the node search to the complex degree, and with a revaluation value to meet the real-time, the UAV with smoothing algorithm make the planning route finally meet UAV maneuver performance constraint. The simulation results show that the algorithm has better performance than the traditional A-star algorithm, and it is suitable for the engineering application of UAV route planning.