In view of the fact that current research on track planning is biased towards theory and planning efficiency is not efficient, a variety of constraints of track planning are analyzed based on engineering application. A fast track planning method based on multiple constraints is proposed. An engineering search strategy based on the finite discrete change of heading angle is proposed. The A * algorithm flow is improved, and the OPEN table and the CLOSE table are managed by using the least-binary heap structure of chain structure, which greatly improves the planning efficiency of the algorithm. Point trajectory optimization method, the traditional A * algorithm and the improved algorithm were simulated. The results show that under the condition of multiple constraints, this method significantly improves planning efficiency.