This paper presents a new coverage flight path planning algorithm that finds collision-free. minimum length and flyable paths for unmanned aerial vehicle (UAV) navigation in three-dimensional (3D) urban environments with fixed obstacles for coverage missions. The proposed algorithm significantly reduces computational time. number of turns. https://www.roneverhart.com/1915-Old-Taylor-Bourbon-Bottled-1933-Prohibition-Bottling-Quart-low-fill/