In　order　to　save　time　and　reduce　the　energy　loss　of　the　AGV　when　transporting　the　objects,　the　discrete　cuckoo　algorithm　is　used　to　solve　the　path　planning　problem　of　multi　targets　points.　Firstly,　the　cuckoo　algorithm　is　applied　to　the　path　planning　of　the　AGV　single　target　point　based　on　the　grip　map,　and　the　optimal　path　of　the　AGV　to　each　object　and　the　optimal　path　of　each　object　to　the　specified　position　are　obtained.　Secondly,　discretizing　the　cuckoo　algorithm,　and　in　the　process　of　discretization,　multiple　operators　such　as　reverse　sequence,　insertion,　substitution　and　double　bridge　are　combined　into　different　neighborhood　structures,　which　will　used　to　find　the　optimal　solution　through　Levi　flight　mechanism.　Finally,　the　discrete　cuckoo　algorithm　is　used　to　generate　the　global　optimal　path　for　AGV　to　transport　multiple　objects.　Simulation　results　show　that　the　proposed　algorithm　successfully　solves　the　multi-target　point　path　planning　problem　of　AGV.　Compared　with　other　algorithms,　the　proposed　algorithm　can　avoid　partial　optimality　and　achieve　fast　convergence　speed.　©　2019　IEEE.