Abstract: Traditional A* algorithm suffers from many redundant nodes and inflection points in path planning.Moreover，collision easily occurs when the distance between paths and obstacles is too small.To overcome these problems，this paper proposes a path planning algorithm which integrates the improved A* algorithm with the dynamic window method.The algorithm extracts environmental information by quantifying the obstacle rasters in the raster map，and adjusts the heuristic function and sub-node selection strategy of the A* algorithm according to this information.In addition，to optimize the smoothness and safety of the path，a path node smoothing processing algorithm is built.Our simulation experiments show the fusion algorithm after incorporating the dynamic window method ensures the global optimality of the path and effectively avoids random obstacles.