In order to solve the sorting handling optimal robot path planning in the process, often encounter target many situations exist path planning problems such as low efficiency, error prone. Multiple minimum value of A* algorithm cannot be achieved under the condition of path optimization problems are studied, and an improved A* algorithm which combine ant colony algorithm and A* algorithm is proposed. Firstly, the A* algorithm is used to select the optimal route, distribution information, so as to simplify the operation of A* algorithm. Secondly, based on the selected route, according to different situation combined with ant colony algorithm to design three kinds of general scheme which based on a specific path planning, and then solve the A* algorithm itself easily into a large number of duplicate data problems. The proposed improved A* algorithm of this paper is verified by simulation and practical experiment can meet the demand of automatic sorting handling, which is worth popularizing and using.