The invention relates to a path planning method based on a concentric circle sampling guide RRT algorithm. The method comprises the following steps of: 1, taking the starting point of path planning asthe root node of a random tree; 2, generating a random point by concentric circle sampling; 3, judging whether the random point is in a map range or not, if so, turning to the step 4, otherwise, returning to the step 2 to regenerate a random point; 4, finding out a node closest to the random point as an adjacent point; 5, generating a new node by extending step length from the adjacent point to the random point; 6, judging whether an obstacle exists between the new node and the adjacent point or not, if so, returning to the step 2 to perform resampling, and otherwise, adding the new node intothe random tree; 7, judging whether the new node is in a target point area or not, if so, adding a target point into the random tree, backtracking from the target point to the root node to obtain thepath points of a planned path, and otherwise, returning to the step 2; and 8, fitting the path points to obtain a final path. The method is beneficial to improving path finding efficiency and quicklyfinding the planned path.