Aiming at various problems in the path planning of intelligent inspection robots in the complex environment of substations, this paper proposes the LH path planning algorithm. By designing a dynamic weighted heuristic function, the local obstacle density factor, the straight-line deviation penalty term and the directional guidance mechanism are fused. The path jump strategy is adopted, and the redundant node elimination strategy and the adaptive Bézier curve smoothing strategy are proposed to improve the A* algorithm. The experimental results show that under the premise of ensuring optimality and feasibility, the LH algorithm significantly improves the path planning efficiency and trajectory quality, and provides effective technical support for the autonomous navigation of substation intelligent inspection robots.