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:The application ofSthe Dubins curve and the improvedSA* searching algorithm withSangle constraintSin the path planning, can solve the problem of the shortest path and route security.SThe path generated by this method, is composed of two circular arcs and a straight line which tangents to them.SThe circular arc which has the minimum turning radius, was produced by theSDubins curves,whileSthe straight lineSby the A * searching algorithm.SFirst, by judgingSthe existing conditionSto calculateSthe parametersSof Dubins’Scurve,Sthen theScoordinates of theSstartingSpointSandterminalSpointScan be calculated.SWithSthe coordinates,Swe can calculate the entry point and cut-in point of theSstraight lineSand arcs.SAnd these two pointsSwill be the startingSandSterminalSpoints which improveSthe A* searching algorithms’Spropagating path.SThe Matlab simulation experiment verified that the path produced in this way is the shortest one to avoid the obstacles.