<p>To solve the problems of redundant points, low search efficiency, the inability to avoid dynamic obstacles, and weak real-time conflict coordination in multirobot path planning, a multirobot collaborative path planning algorithm was proposed. First, for the improvement strategy in the path search phase, enhancements were made to the traditional A* algorithm by incorporating environmental data, adapting the weight of the heuristic function in a flexible manner, and implementing a strategy to remove redundant points. The aim was to decrease the number of redundant nodes, minimize traversal nodes, and reduce inflection points. Second, in the conflict coordination phase, a conflict resolution strategy based on task priority was proposed for coordinating the conflict between robots, and the traditional dynamic window method was improved so that the robots could avoid random dynamic obstacles in the environment. Finally, the performance of conflict resolution and random obstacle avoidance was verified via simulation analysis. The results show that the proposed method can achieve random avoidance of multiple robots in a complex environment while considering robot conflicts and that the planned path has good smoothness, safety, real-time performance, and robustness, enabling the robot to reach its destination smoothly while improving the safety and sensitivity of the robot. This study has important theoretical and practical significance for improving the path planning efficiency, path smoothness, and conflict coordination ability of multirobot systems.</p>