To implement collision-avoidance path planning for 2 fixed-wing UAVs flying at the same altitude with obstacles, as well as to solve the problem that the flight performance constraints are not taken into consideration in the path generated by grid-based A* algorithm, we proposed a Dubins-path based A* algorithm.Effective nodes were firstly found by Dubins path.By applying A* heuristic search, the shortest path constructed by Dubins path was obtained offline for each UAV.For two UAVs flying at the same altitude, the relative motion was analyzed and “Vector Sharing Resolution” was used for online path replanning, thus the collision-avoidance paths were obtained.Simulation results show the proposed method can generate a shorter path more effectively for single UAV and feasible and safe paths for 2 UAVs through online replanning.