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In this paper, An improved A* algorithm for mobile robot global path planning is improved. We first set up a grid map and extend the neighborhood based on the traditional A* algorithm, extending the traditional 8 neighborhood to the 24 neighborhood, making the path direction more selective and reducing the unnecessary turning point. The heuristic function of the A* algorithm is optimized, and the single Manhattan distance or Euclidean distance is no longer used, and it is fused and improved to eliminate the redundant nodes and the superfluous turning points in the path. In the end, we combine the global path with the dynamic window method and combine the advantages of each of them, and take full consideration of the global optimal path of the robot to avoid the obstacles and get a smooth trajectory. After each algorithm is verified, the ROS platform is used to simulate the system. The experimental results show that the improved algorithm has better path planning ability.