The invention relates to an adaptive irregular topology dynamic path planning method. According to the method, node classification processing is adopted; unknown nodes in a communication range feed back information to mobile anchor nodes; the mobile anchor nodes carry out next target direction decision-making through utilization of classification weight coefficients; the mobile anchor nodes reselect a moving direction through utilization of a coverage matrix and a backing link according to prediction of whether a next target position is in a hole area or not; and after the anchor nodes traverse the whole area, the un-positioned unknown nodes carry out secondary positioning through utilization of virtual anchor nodes. The method is applicable to mobile anchor node path planning of a disconnected C-shaped or Z-shaped area with unevenly distributed sensor nodes, a positioning rate is improved and the problem of partial path lengthiness is overcome.