Aiming at the problem that the number of various brand stores in the physical store is increasing

it is difficult for shoppers to quickly find a suitable store

an autonomous navigation system for shopping mall adopting laser module

voice module

motion control module are designed and implemented.The path planning A

*

（A-Star） algorithm is optimized to the two-way A

*

algorithm

which improves the real-time performance of the system and facilitates intelligent recommendation and intelligent guidance in physical stores.The experimental results show that the system can accurately locate the target store and intelligently guide the shopper to the destination

which has good real-time performance

robustness and practical value.