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A large number of grain machinery and vehicle equipment are usually required in the raw grain storage phase, and these objects together form the path planning map environment for the unmanned grain transfer vehicle. After using LiDAR to build a map of the environment for path planning, these dense and cluttered obstacles tend to affect the path planning effect making the unmanned transfer vehicle create a crossing from the impenetrable dense obstacles. To address this problem, this paper firstly deals with obstacles by fusing the DBSCAN clustering algorithm and K-means clustering algorithm, clustering obstacles, and extracting the cluster centroid and boundary points of each obstacle class to avoid the above situation. Secondly, the specific A* algorithm is improved, the search field way of the A* algorithm is optimized, and the optimized 5×5 field search way is used instead of the traditional 3×3 field search way of A* to improve the node search efficiency of the algorithm. Finally, the repulsion function of the artificial potential field algorithm is added to the A* heuristic function as a safety function to increase the obstacle avoidance capability of the A* algorithm. After verification, the improvement can operate better in the dense and cluttered obstacle environment. [ABSTRACT FROM AUTHOR]