This study mainly introduces the advanced A* algorithm and steepest descent method for path planning based on grid form. A* algorithm is a node-searching strategy, namely uses the heuristic function to estimate the cost of the path from the start to the goal in the grid maps. The branching factor of A* algorithm describes the moving directions, which will be selected according to the path length in different grid maps. The steepest descent method adopts a heuristic-based gradient method with grid maps to search the shortest path. In this paper the appropriate path planning method will be selected by comparing the run time and the creation of complex maps of the two methods.