A method based on an improved A* algorithm is proposed to address the issues of low safety and slow search speed in path planning for warehouse mobile robots. This method first performs an inflation operation on the obstacles in the map. Based on this, the search strategy and heuristic function of the traditional A* algorithm are improved. The algorithm utilizes a bidirectional search approach and introduces an exponentially weighted estimation cost. Experimental results demonstrate that compared to the traditional A* algorithm, the proposed algorithm can reduce search time by up to 18.59% in maps of different scales, significantly improving the search efficiency of warehouse mobile robots.