The thesis describes the implementation of the hybrid A* algorithm with the aim of finding a smooth path in an obstacle dense environment. The goal was to find and successfully folow a path that meets the nonholonomic restrictions of a real vehicle. A simulation was developed in the Unity framework that is often used in game development and allows for a good visualization of mobile vehicle path following. The simulation consists of an example of a space with obstacles among which the vehicle has to travel from a start to a goal location. A simple laserscanner simulation was developed for mapping the environment, an Ackermann vehicle model, hybrid A* search and path following.