This paper presents path planning of UAVs for surveillance of an urban region. Firstly, the urban region is divided into areas of accessibility by triangulation. The area is accessible if the space above the area can accommodate the size and maneuverability of the UAVs. Thus a set of accessible areas within the region is generated to facilitate the safe flight path. Following this, a sequence of way points is generated in these areas at the centre of a line connecting the structures. The waypoints are interpolated using the Pythagorean Hodograph curves as they provide a smooth interpolation. As an initial phase of this research, path planning with single UAV in a randomly simulated urban region is presented.