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This paper presents a hierarchical route planning strategy that utilizes an improved RRT* algorithm in conjunction with the DWA algorithm. The primary objective is to address the complexities of route planning within dynamic environments by enhancing efficiency and reducing planning duration. The hierarchical approach encompasses two layers: a global route planning layer and a local route planning layer. The global layer employs an enhanced RRT* algorithm to plan routes considering static obstacle data. Simultaneously, the local layer employs the DWA algorithm, focusing on real-time dynamic obstacle data. By synergizing global and local strategies, a comprehensive hierarchical route planning strategy is formulated, resulting in a viable final route solution. Simulation results substantiate the effectiveness of this strategy in efficiently executing route planning tasks within intricate dynamic environments.