In this paper, a path planning algorithm named as waypoint algorithm (WA) is developed for an unmanned vehicle in a known environment using the general search for minimum distance or shortest path. The code for the algorithm is developed using MATLAB software. The study focussed on developing an algorithm to create a virtual simulation of an unmanned vehicle in a known or static environment like that of shop floor of a manufacturing cell layout with ten, five, or three cells having a network of paths connected with each cell. The main purpose of this study is to find a shortest path between the cells when an input command is given to the unmanned vehicle to move from one cell to another. The algorithm also takes care of the command where the unmanned vehicle is asked to visit multiple cells one after another sequentially. Thus, the algorithm is robust enough to execute the command for making the unmanned vehicle move from source position to either one cell or multiple cells in a chronological manner.