This work enhances autonomous drone navigation by integrating real-time dynamic replanning with multi-agent coordination. Using the A* algorithm for initial path planning, the optimal routes for the drones are recalculated in order to avoid new obstacles. Swarm intelligence allows multiple drones to share information and collaborate on complex tasks, which improves their collective performance. To that, energy optimization strategies extend the battery life and operational times. The simulation results proved the system’s robustness and flexibility in the context of real-time changes and multi-drone coordination, making it ideal for delivery, surveillance and exploration, and highlighting its potential for revolutionizing various industries.