Path planning is one of the key technologies for reconfigurable robots to accomplish tasks quickly. In order to improve the driving efficiency of the reconfigurable robot and shorten the driving path, an improved A* path planning algorithm based on the idea of Bresenham straight line algorithm is proposed to achieve path point reduction and inflection point elimination of the reconfigurable robot and improve the smoothness of the pathfirstly. On this basis, considering the volume of the reconfigurable robot itself and the reconfigurable characteristics of the robot, the reconfigurable robot configuration library is established, and the relationship between the volume of the reconfigurable robot and the surrounding obstacles is discussed to reduce the probability of collision between the robot and obstacles in the process of walking. The improved A* path planning algorithm is simulated by using MATLAB simulation platform to verify the effectiveness of the algorithm, which can be applied to robot path planning in complex environment. The path planning problem after robot reconfiguration is analyzed, and the running distance of robot can be shortened by using reconfigurable characteristics, which reflects the superiority of reconfigurable robot.