In this study, an improved A* algorithm is proposed for the traditional A-star algorithm, which has many redundant path points and long-term one-way search. The proposed algorithm uses a bidirectional preprocessing structure to reduce the number of redundant nodes, and further optimizes the evaluation function to improve the traversal speed by normalizing the processing and adding node marker information. Simulation software is used to simulate the improved A* algorithm and compare with other classical path planning algorithms. The simulation results show that the improved A* algorithm can complete the global path planning with lower search node number and search duration than the traditional A* algorithm.