The Path planning is essential in the field of robotics as robots require a fast algorithm to develop not only the shortest path but also free of collision with any obstacles. Therefore, this paper describes a novel path planning algorithm based on Obstacle-Guided Path Refinement (OGPR). To illustrate the benefits and performance of the new algorithm, a comparison is established between OGPR and A* based on implementation of the two algorithms with SCARA robot model. The results of this comparison show that OGPR algorithm over advantage A* in terms of the path length and the computational time.