—Mobile robots have been widely applied in the industrial world. Mobile robots are proven to help humans work, especially repetitive ones. A robot needs to plan its trajectory to move as desired, a concept that requires path planning. Path planning is a non-deterministic problem that plays a role in finding a path to connect the system to the desired destination. The existing path planning algorithm proposes a path with sharp bends that make it difficult for the robot to maneuver so that it can still be optimized from the sides of the proposed path. One way is to make smoother turns so that the robot is not difficult to turn. Applying the interpolation method using b-spline makes the proposed path smoother. B-spline is a spline feature that provides a specific order and minimal support for domain partitioning. B-spline is applied to the Smoothing A*(SA*) algorithm, one of the breakthrough methods to produce smoother paths. As a result, SA* consistently produces paths shorter than the stateof-the-art by 0.957% and shorter than the baseline by 4.891%.