Based　on　path　planning　of　mobile　robot　in　local　unknown　environment,　a　new　method　which　combines　the　benefits　of　global　and　local　path　planner　is　proposed.　The　global　path　planner　uses　A*algorithm　to　generate　a　series　of　optimal　nodes　to　the　target　node,　and　cut　some　redundant　of　which　to　generate　global　guide　path　with　more　exact　guiding　direction.　And　the　local　planner　makes　full　use　of　the　real-time　local　environmental　information　detected　by　the　robot　and　the　path　planning　is　optimize　on-line　under　the　conduct　of　global　guide　path.　This　method　combines　global　guiding　and　local　optimization　in　an　effective　way　and　so　it　is　well　suitable　for　local　unknown　environment.　©　2010　IEEE.