Effective path-planning for robots is crucial for enhancing rescue operations in the RoboCup Rescue Agent Simulation. Among the agents involved, the doctor agent holds the critical responsibility of providing medical aid during emergencies. Successful execution of doctor agent missions in dynamic environments requires adept object localization and strategic course planning. We propose an intelligent path-planning technique tailored for doctor agents, integrating the A* algorithm with discerning rescue decision-making strategies. Through systematic experimentation, we validate the effectiveness of this technique in simulated rescue environments, showcasing its potential as a pivotal tool for advancing robot-assisted rescue operations. This research contributes to the field of robotics and path-planning strategies, particularly in emergency response scenarios like the RoboCup Rescue simulation.