Unmanned Aerial Vehicles (UAV) have been widely used nowadays as platforms to work in various environments. While they originated mostly in military applications, their use is rapidly expanding to commercial, scientific, agricultural, and other applications such as surveillance, delivery and infrastructure inspections. ??Many UAVs can be remotely controlled via network. When a goal is defined, path planning is the crucial element of the whole system. It's very important to ensure the proper behaviour of the UAV to prevent harm to citizens and other infrastructures. However, the wireless network is not always reliable, interference may happen due to large physical obstacles or other devices that emit an electro-magnetic signal.