The invention discloses a robot path planning method fusing a bidirectional search mechanism and an improved A * algorithm. The method aims at solving the problems that a path planned through an A * algorithm has the risk of touching obstacles, and too many redundant points and turning points are generated. The improved A * algorithm fused with the bidirectional search mechanism is provided, firstly, a search direction positioning strategy is introduced, node search is reduced, and algorithm efficiency is improved; secondly, an improved child node expansion strategy is added, so that a safe distance is kept between the robot and the obstacle; a bidirectional search mechanism is fused, and an improved A * algorithm is utilized to search at a target point and a starting point at the same time, so that the planning time is further shortened. An initial path is obtained in a two-dimensional grid map environment, a path turning point is extracted through a vertical distance limit value method, a greedy thought is introduced to select an optimal turning point, the optimal turning point is fitted based on a B spline curve, and a smooth path is obtained. According to the method, the optimal path which is short in time consumption, free of touch and few in turning points can be found.