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In order to solve the problem of the path planning when forklift AGV runs along the given reference path in the factory environment and deviates greatly from the reference path due to obstacle avoidance and so on, cubic B-spline curve is used in path planning. The planned path can make the AGV return to the original reference path with the shortest distance and satisfying the constraints of AGV kinematics, maximum curvature, starting and ending position and orientation. The algorithm transforms the path planning problem into parameter optimization problem and takes the planned path distance as the objective function and gets the optimized parameters. Finally, the algorithm is simulated and verified with Matlab taking the linear and circular reference paths as examples. The results show that the algorithm in this paper can plan a shortest path and make the AGV return to the reference path under the condition of large deviation.