Being　aimed　at　different　robot　tasks　in　which　path　planning　is　necessary　in　the　unknown　environments,　a　new　concept　of　obstacle　influence　factor　is　proposed　according　to　the　real-time　robotic　exploration　result.　Based　on　that,　an　evaluation　function　is　designed　by　integrating　the　global　environment　information　and　the　local　sensor　information　to　choose　the　next　position.　With　that　function　the　robot　can　reach　the　target　quickly　without　collision.　The　addition　of　the　obstacle　influence　factor　improves　the　applicability　of　the　distance　based　global　planning　method　and　extends　the　planning　method　to　the　unknown　environments.　Several　simulation　experiments　are　carried　out　to　verify　the　feasibility　of　the　proposed　planning　method.