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Since the environmental complexity of a 3D environment significantly increases as compared to a 2D environment, previous studies on 3D path planning have mostly focused on efficiency in generating a 3D path. In this context, the present study proposes a method, COSPS (Critical Obstacles and Surrounding Point Set), which can lower the complexity for efficient 3D path planning by determining a subset of obstacles in terms of their importance for planning a path, and by finding a subset of grid points that can fully surround those obstacles in 3D. Due to this reduction of obstacles and points, a path can be efficiently generated, as a graph is constructed with a smaller number of points, rather than with the total number of points in 3D. To observe the effect of the proposed method on 3D path planning as compared to well-known methods that consider all obstacles and points, the simulation experiment was conducted …