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Abstract: In order to improve the efficiency of the mobile robot in obtaining the scene environment map during the operation ,a navigation map is established by using BIM technology, and the IFC information is obtained and mapped to a two-dimensional grid, so that the map can be quickly constructed. In order to make the indoor mobile robot reach the target point faster and better, the traditional A* algorithm is improved, and the original 8-neighborhood search is expanded to 48-neighborhood search, which increases the search direction and optimizes the search angle. At the same time, considering the safety of robot, the planned path is improved, so that the planned path keeps a certain distance from obstacles. Secondly, due to the emergence of dynamic obstacles in the site, the improved A* algorithm is combined with the Dynamic Window Approach, which can not only ensure a better global path, but also achieve obstacle avoidance effect. Through the experimental simulation, it can be seen that the improved A* algorithm improves the running speed by more than 2 times, reduces the turning angle difference by more than 28%, reduces the path distance, and no longer clings to obstacles. Compared with the improved A* algorithm, the fusion algorithm has better path smoothness, can avoid random obstacles in time, and is more suitable for the indoor environment of changing site.