Abstract: To improve the working efficiency and control accuracy of picking robot, a path planning and tracking control method based on improved A^* algorithm was proposed. Firstly, the dynamic model of the mobile picking robot was established, then the efficiency of A^* algorithm was improved by introducing the artificial potential field method, after which the fast path planning of the picking robot was realized. Finally, the state of the system was estimated by using the state observer, and the terminal sliding mode control law was designed to accurately track the path command, which greatly improved the control accuracy. The simulation results showed that the design was improved, so that compared with the traditional A^* algorithm, the improved algorithm had higher efficiency and shorter path length. The running time of the mobile vehicle and the manipulator was only 6 s and 2 s, respectively, and the path length was only 47.82m and 11.25 m, respectively. The terminal sliding mode control had better control precision than sliding mode control. The maximum tracking error of the mobile vehicle and the manipulator was only 0.2 m and 0.04 m, respectively, which made the picking robot run more efficiently and accurately.