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Autonomous mobile robots are taking on more tasks in warehouses, speeding up operations and reducing accidents that claim many lives each year. This work proposes a dynamic path planning algorithm, based on A* search method for large autonomous mobile robots such as forklifts, and generates an optimized, time-efficient path. Simulation results of the proposed turn and orientation sensitive A* algorithm show that it has a 94% success rate of computing a better or similar path compared to that of default A*. The generated paths are smoother, have fewer turns, resulting in faster execution of tasks. The method also robustly handles unexpected obstacles in the path.