In order to improve energy saving and efficiency of the handling robot in U-shaped obstacle environment, proposes a multi-objective path finding algorithm (IA*-PSA) that integrates improved A* algorithm and PID-based search algorithm (PSA). Firstly, an angle guidance function is added to A* algorithm to improve path search efficiency and reduce the number of turns. Then, the comprehensive cost of each rotation angle between the target points is introduced into the PSA algorithm to plan the optimal path finding sequence of multi-target points. Finally, the final collision-free path is planned according to the optimal pathfinding sequence. The experimental results show that IA*-PSA algorithm is superior to IA*-WOA algorithm and IA*-GWO algorithm in the path search distance and path finding time in the U-shaped obstacle environment, which effectively improves the efficiency and energy saving of the handling robot.