Provided are a path planning apparatus, a path planning method, and a computer-readable recording medium. The path planning apparatus is provided with a path planning unit that generates a path of a robot using a plurality of different path planning methods that respectively correspond to a plurality of different constraints determined from the posture of the robot and the characteristics of one or more obstacles that obstruct movement of the robot, an acquisition unit that acquires posture information indicating an initial posture of a robot RB for which a path is to be generated and a targetposture of the robot RB, and obstacle information indicating a target obstacle that obstructs movement of the robot RB from the initial posture to the target posture, and a controller that controls the path planning unit so as to generate a path of the robot RB using a path planning method corresponding to a constraint determined from the posture information and the obstacle information acquiredby the acquisition unit.