The invention relates to a mobile robot path planning method. The mobile robot path planning method includes the following steps that: a shortest path in an environment is searched; when robot detects that the robot will collide with a dynamic obstacle in the environment in an advancing process, grids on the shortest path which are separated from the dynamic obstacle by safe distances are considered as local target points; the movement range of the dynamic obstacle is determined; the robot advances along grids with high pheromone concentration; and an optimal path which avoids the dynamic obstacle and passes through specified points can be obtained. With the mobile robot path planning method adopted, the problem of low convergence speed of an ant colony algorithm due to the limitations of the ant colony algorithm itself can be solved; parameters in the traditional ant colony algorithm are optimized by using a particle swarm algorithm, and then, a set of optimal solution can be obtained; with a genetic algorithm adopted, the algorithm will not fall into local optimum assuredly; the other parameters in the above parameters are kept unchanged; the pheromone concentration is magnified manyfold, so that the differences of the pheromone concentration on different paths are more obvious; and therefore, the convergence speed of the algorithm can be improved.