A device can determine a set of parameters associated with generating a route plan for routing an unmanned aerial vehicle (UAV) in a three-dimensional (3D) environment. The set of parameters can include a parameter that identifies a radio frequency (RF) condition to be satisfied by the route plan. The device can determine a route, associated with the 3D environment, based on the parameter that identifies the RF condition and using an RF model. The RF model can be associated with predicting RF conditions in the 3D environment. The device can generate the route plan including information associated with the route. The device can provide information associated with the route plan.