Aerosol printing is one of the common methods used in printed electronics. In this study, an improved path planning algorithm is developed for an aerosol printing system. The continuous aerosol stream provided by a printing nozzle requires a constant relative velocity between the printer head and substrate in order to evenly deposit materials. To ensure consistency, the proposed algorithm confines speed fluctuations by predetermining potential velocity errors and compensating with a novel scheme. The path planning algorithm can control motion of an XY stage for an arbitrary printing path and desired velocity while minimizing material waste. Linear segments with parabolic blends (LSPB) trajectory planning is used during printing, and minimum time trajectory (MTT) planning is used during printer transition. Simulation results demonstrate the algorithm's improved capability to maintain the desired velocity while minimizing print time.