The application of automatic guided vehicles is becoming more and more extensive, in order to achieve the requirements of global optimization and real-time obstacle avoidance in the path planning of automatic guided vehicles, a path planning scheme of automatic guided vehicles integrating optimized A-Star algorithm and optimized DWA algorithm is proposed. The A-Star algorithm can find the global optimal path, optimize it according to the A-Star algorithm, introduce the adaptive heuristic, select the path key point, and delete the redundant path point. The optimized A-Star algorithm solves the problems of low planning efficiency and unsmooth path of traditional algorithms. The DWA algorithm is used to optimize the evaluation function and improve the planning efficiency. The simulation results show that the fusion of the optimized A-Star algorithm and the optimized DWA algorithm reduces the search range, improves the efficiency of path planning and can achieve the effect of obstacle avoidance. Compared with other fusion algorithms, the fusion algorithm greatly improves the efficiency of path planning, and finally realizes global optimal path planning and local dynamic real-time obstacle avoidance.