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This paper proposes a new DNA computation-based optimal path planning algorithm on 3D space. In the proposed approach, the working space is converted into several slices by the DNA coding scheme during the evolutionary process, where less blocks of every slices correspond to the areas containing loosely dense obstacles and vice versa. The molecular programming algorithm imitates the biological evolution mechanism through artificial programming to enhance the opportunities for searching the shortest moving path while avoiding obstacles. Simulation results are presented to show the effectiveness of the proposed approach.