To solve the problem of requiring global optimization, real-time obstacle avoidance, and safe and reliable trajectory in surface ship path planning, a surface ship path planning method based on A ∗ algorithm and DWA algorithm is proposed. Firstly, the heuristic function dynamic weighting strategy is introduced to improve the search efficiency of A ∗ algorithm. Then, considering the motion characteristics of surface ships, an Angle weakening strategy of the path Angle node is adopted to reduce the angle and shorten the global path length. Finally, the trajectory evaluation function of the DWA algorithm is improved based on the influence of the global factors and track safety constraints, and the algorithm fusion is completed by providing subentry points of global path to guide the DWA algorithm to carry out local planning. Experimental results show that the total steering Angle of the proposed algorithm is reduced by 45. 6% and 46. 0% , respectively, compared with the existing fusion algorithms, which verifies the effectiveness and feasibility of the proposed fusion algorithm, and has more advantages over other traditional algorithms.