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Along with the advancement of low-altitude airspace reform, it has become a developing trend that UAV leaves the isolation airspace and gets into the fusion low-altitude airspace to perform diverse missions. A serious threat is brought to UAV in the low dynamic complex fusion airspace, so the obstacle avoidance technology has become a key process in UAV mission decision-making system, to ensure the safe operation of the UAV and to improve working efficiency. Firstly, the relevant concepts, path evaluation indexes and key technologies of UAV obstacle avoidance are described. Then, the concepts of obstacle avoidance algorithms based on optimization, potential field and machine learning are described, and the advantages and disadvantages of these algorithms are compared. Finally, the current challenges that restrict the development of UAV obstacle avoidance and the future research directions are proposed.