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In current trends, Unmanned Aerial vehicles adopt a wide range of services for several applications, such as logistics, rescue operations, and real-time monitoring. UAVs’ are proven be provide a safe and cost-effective solution. Efficient Path planning is crucial to the navigation of UAVs in different environments. However, finding an optimal path is challenging as it is about more than just finding the shortest path but also considering many factors, such as path generation time and path quality. The present work aims to design and develop an efficient algorithm for providing an obstacle-free path approach between two points. The present work proposed a novel path planning scheme (Rapid A*) using a bounded line-of-sight approach to provide a guaranteed solution and achieve motivating results concerning path length and path generation time. We also provide a detailed comparative analysis of the proposed RA …