An improved A

*

algorithm based on the back obstacle searching method is proposed. In order to eliminate unnecessary turning points in the path

while ensuring the distance from the obstacle

adopting the strategy of extracting the optimal turning point. Introduce the cubic uniform B-spline interpolation function to smoothly optimize the path after the turning point. Simulation experiment proves that the proposed improved A

*

path planning algorithm ensures that the planned path and the obstacle have a certain distance

and the overall path is more smoother

which is more conducive to the control of the mobile robot.