In order to solve the problem of mobile robot path planninga global dynamic path planning method is designed combining improved A* algorithm with Dynamic Window Approach(DWA).Firstbased on the traditional A* algorithm and the JPS algorithmthe child nodes are extended and jumped to improve the efficiency of path planning.Secondlythe planned path is smoothed and optimized by using Floyd algorithm.FinallyDWA is integrated so that the A* algorithm can perform global dynamic path planning.Based on the Matlab platformsimulation experiments of the global dynamic path planning algorithm are conducted for 8 kinds of grid maps.The analysis result shows that the fusion algorithm is greatly improved in efficiency and smoothnessand can perform dynamic obstacle avoidance.The global dynamic path planning algorithm after fusion and improvement has excellent path planning capabilities.