The invention relates to a robot path planning method based on combination of a visibility graph method and a greedy algorithm. The robot path planning method based on combination of the visibility graph method and the greedy algorithm comprises the steps of: (1), scanning a map environment involved by robot motion by utilizing a computer, identifying obstacles in the map environment, performing enveloping, and screening vertexes through a visual condition; (2), connecting a start point to a target point, wherein a connecting line can pass through multiple obstacles, vertexes on the obstacles,which are passed through, are put into a set S, and, vertexes on the obstacles, which are not passed through, are put into another set V; and (3), according to a principle of minimum angle, continuously updating a next point and current, obtaining the vertex of each section, connecting the vertexes of the various obstacles, and finally, obtaining a global optimal solution. By means of the methodin the invention, the calculation amount is greatly reduced; unnecessary obstacles and vertexes are deleted; the modelling composition complexity is greatly reduced; the calculation efficiency is increased; and possible collision of a robot with an obstacle in a motion process can be avoided.