The invention discloses a mobile robot obstacle avoidance method capable of comprehensively taking two factors including distance and direction into account. According to the method, a fusion problembetween the distance and the direction of an obstacle is quantized, a unified measurement standard is obtained and named as an obstacle risk degree value, and the obstacle with the maximum risk degreevalue obtains prior obstacle avoidance. Therefore, a mobile robot can naturally and smoothly adjust the movement angular speed and linear speed according to real-time environment information, safetyguarantees on the two aspects including the distance and the direction are provided for the robot, and the practical significance for safe navigation of the robot is achieved.