In order to allow mobile robots to move smoothly in a warehouse where obstacles are known

path planning by improved D*algorithms is given. Use extended Moore-type cell neighbor structure to improve the path length and use the skipping point search algorithm to reduce the search time

which makes obstacle-avoidance of the mobile robot faster than the path planned by the original D*algorithm. Results of simulation experiment show that the distance is shortened by 2. 59 % and the traversal node is reduced by 85. 71 %. This method has better operability and practicality

which makes the original complex traversal node to work more conveniently

while making the path more smoother.