Object detection (OD) in the environment plays an extremely important role in path planning (PP) of mobile robots (MRs). In comparison to two-dimensional (2D) multi-object tracking methodology, three-dimensional (3D) multi-object tracking (MOT) algorithm possess greater research significance and extensive application into real-time MR’s navigation. The paper proposes a global path planning (GPP) to avoid obstacles in the known environment. First, the OD-CT3D model is designed. Then, CentreTrack 3D algorithm supports defining the 3D object’s center of gravity. Utilizing the coordinates of 2D entities ascertained on the terrestrial plane, the GPP based on improved A* ensures the MR traverses the trajectory from the initial position to the terminal point while maintaining a prudent distance from the potential obstacles. Moreover, the enhanced A* algorithm serves to reduce extraneous path points and smooth the GPP, thereby facilitating the MR’s movement in a stable and optimal manner. Ultimately, the empirical findings substantiate the practicality of implementing OD-CT3D model in the optimal navigation strategy that accommodates multiple practical requirements.