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The advancements in warehouse robotics at this current moment is considered as a trending topic. There is an abundance of multinational electronic companies that requires the use of robots in the field, especially warehouse robots that can be used to send and receive items efficiently. The width of warehouses with many branching routes creates problems for the movements of these robots. An example of said problem would be the inability to move efficiently using the nearest route possible. Therein lies the need for an algorithm that may solve these issues. This research proves that the use of A* Algorithm can be implemented for warehouse robot tracks which involves the usage of visible light communication method. The routes used for experimentation have specialized schematics in the form of a grid. In these experiments using a track with 2x2 and 3x3 schematics presents a success ratio of about 56,6% to 66,6% with an estimate distance calculation error between a minimum of 1 cm and maximum of 20 cm. With the implementation of A* Search Algorithm, the robot could determine the shortest route in which it could efficiently move less steps compared to robots which uses all possibilities that exists and handle obstacles.