This paper presents an enhanced A* algorithm aimed at resolving issues of diagonal traversal of obstacles, excessive numbers of turning points, and non-smooth paths produced by the conventional A* algorithm. Initially, by excluding all forced neighboring nodes, the search neighborhood is optimized to prevent the generated path from diagonally crossing obstacles, thereby enhancing path safety and dependability. Subsequently, a safe distance is established, and crucial turning points are extracted from the generated path after optimizing the neighborhood, reducing path redundancies and simplifying the path structure. Lastly, the algorithm employs Bezier curves to interpolate essential turning points, determining the quantity and position of control points for each segment based on the positions of adjacent necessary turning points and the connecting line slopes to achieve segmental smoothing. Simulation experiments demonstrate that compared to the original A* algorithm, the improved A* algorithm exhibits an average 33.68% enhancement in path safety and a corresponding average reduction of 37.00% in the number of turning points. Additionally, the robot′s turning angle and path curvature are continuous, ensuring path smoothness. The paths generated by the refined A* algorithm are smooth, with few turning points, and maintain a safe distance from obstacles, which can be applied to indoor path planning for mobile robots.