Abstract: Firstly, the heuristic search algorithm is analyzed and introduced, and A* algorithm is chosen to study the path planning of automatic picking robot. Secondly, it studied the two-dimensional space environment model of picking robot path planning, and established the space model of picking robot path planning by grid method. Finally, the model is simulated by using MATLAB software. The experimental results show that the improved A* algorithm can significantly improve the mobile path of the picking robot, make the planned path smoother, and prove the feasibility and superiority of the improved algorithm.