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Aiming at the problem that the A* algorithm generates many inflection points and long paths, an improved A* algorithm is proposed based on expanding the search neighborhood to 5x5 random numbers and removing nodes. First, the 3x3 search neighborhood is expanded to 5x5, thereby reducing the number of inflection points, improving the turning angle, and removing redundant points. Secondly, a method for removing redundant nodes with random numbers is introduced. This method removes redundant nodes by randomly connecting nodes to determine whether they pass through obstacles, thereby further removing redundant points in the path list of the A* algorithm. Finally, the improved algorithm is compared with the A* algorithm in a 30x30 grid map. The experimental results show that the improved algorithm has a good optimization effect in multiple groups of paths, and the path length, running time and access The number of nodes is reduced by 4.46%, 24.83% and 39.93% respectively on average, thus effectively improving the problem that the A* algorithm generates many inflection points and long paths.