Motorized wheelchairs help people with disabilities in everyday life and often they are not able to control the wheelchair itself. This project is placed in the autonomous guide of a wheelchair in an indoor environment, developed at Teoresi S.p.A, where the planning of the path represents the first step to move autonomously an item, considered as a mobile robot. Several pathfinding algorithms exist, but the most appropriate is the A* algorithm, given its low computational cost and its high efficiency. Using the innovative method, called "Model-Based Design", the code is no longer written "by hand", but is modelled, tested and auto-generated.