The invention relates to a path planning method for a robot leaded by a global planner. The method comprises the following steps of SLAM, construction of the three-dimensional robot, robot locating, construction of a local raster map, setting of an end point, global path planning, local path planning, updating of global and local raster maps and updating of robot states. Evaluation for global pathplanning is cancelled, although there is the global planner, actually, a path generated by the global planner is not evaluated, an existing local path planner and an existing local path evaluator aremainly improved, and traditional evaluation factors are revised as the number of barriers, the straight-line distance between the path and the nearest barrier, the path curvature and the like, wherein distances between the barriers and the robot are less than some value (depending on the actual environment). According to the method, data of a laser radar and ultrasonic waves is combined, and theproblem that a robot based on the laser radar cannot avoid transparent barriers is solved.