Considering that the path planning research generally focused on theoretical study and the plan efficiency is not high, we analyzed the multiple restrictions for path planning from the point of engineering application, and proposed a rapid path planning method under multiple restrictions.An engineering search strategy was designed based on the limited discrete changing idea of course angle.The flow path of A* algorithm was improved.The minimum binary heap in structure list way was applied to manage the OPEN list and CLOSED list, which improved the search efficiency of the algorithm notably.An optimization method deleting some path nodes was proposed.Simulations were carried out respectively on traditional algorithm and the improved algorithm.The results indicate that the plan efficiency of the later can be improved considerably under the condition of multiple restrictions.