The invention provides a two-dimensional route planning method for a UUV to geometrically bypass circular barriers. The method comprises the following steps: 1, reading a route origin Ob, a route terminal point Oe and parameters of each circular barrier from a mission text; 2, performing expansion processing on each circular barrier, and calculating the parameters of each circular barrier after expansion; 3, establishing a bypassing point set S, making a planning current point Oc to be a starting point Ob, and placing the starting point in the bypassing point set S; 4, if the planning current point Oc is the route terminal point Oe, or the planning current point Oc and the route terminal point O2 are visual, skipping to the sixth step, and otherwise, executing the fifth step; 5, performing geometric bypassing on a circular barrier closest to the planning current point Oc, obtaining a bypassing point, placing the bypassing point in the bypassing point set S, updating the planning current point Oc, and skipping to the fourth step; and 6, placing the route terminal point Oe in the bypassing point set S, and at the moment, planning ends. According to the invention, bypassing of the circular barriers is realized through a simple geometric principle, and the UVV can rapidly and efficiently obtain a safe bump-free two-dimensional route in a complex environment with multiple circular barriers.