Abstract: The traditional uniform density grid method in rectangular coordinate system is difficult to solve the route planning in the particular scenario due to the uneven distribution of low-altitude risks in cities, or the dense obstacles near the terminal area of the UAV landing field, and the converging operation of multiple UAVs in the terminal area. To solve the problems, this paper constructed the spatial model in column coordinate system, and proposed the variable density grid method based on A* algorithm and genetic algorithm for the route planning of the terminal area of the UAV take-off and landing field respectively. The relate simulation work was carried out. The results show that the route planning efficiency of the variable density grid method based on A* algorithm is improved by 82.60% and the total route length is shortened by 4.25% compared with the traditional grid method based on A* algorithm. Compared with the traditional grid method in car rectangular coordinate system based on genetic algorithm, the route planning efficiency of variable density grid method based on genetic algorithm is increased by 71.72%, and the total path length is shortened by1.29%.The presented method can solve the difficult problem that the traditional grid method can not take into account the planning efficiency and the environmental description accuracy.