Path planning on a prerecorded global path

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Hello everyone. I m working on an AGV for material handling in warehouses. I want to develop a planning algorithm that will use a prerecorded path and will calculate the shortest path to and from various stations in that path. To do that, I will record the amcl_poses in a yaml file and publish those coordinates on nav_msgs/path msg. Whenever a goal will be given, this planner will be called and calculate the path between the current pose and the goal pose. then the move_base will use that path to generate local_path and velocities. But I don't know how to achieve this. Please suggest ways to develop this.