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For the path planning problem of UAV's patrol on transmission line towers, presents a two-stage optimization strategy for the patrol path between towers considering obstacle avoidance. Think of the path optimization problem as TSP problem and compare the performance of dynamic programming algorithm and simulated annealing algorithm in solving the problem. Compared with the traditional heuristic algorithm, it is more suitable for tower patrol path optimization. At the same time, the artificial potential field method is used to solve the obstacle avoidance problem of UAV’s patrol between towers, and a complete path of UAV fine patrolling towers is obtained. The simulation results show that the dynamic programming algorithm has shorter running time and plans path with smaller deflection angle. Also, path length obtained by the two-stage optimization strategy is short and can effectively avoid obstacles, which is conducive to achieving the goal of safe and efficient UAV automatic patrol.