The invention relates to a method for planning a path for a mobile robot based on environmental modeling and a self-adapting window, which relates to a method for planning a real-time path for the mobile robot. The method comprises the following steps of: performing modeling and analysis on a multiple constraint local environment; performing passable analysis; performing safety analysis; performing motion smoothness analysis; performing goal-directed analysis; and performing path planning by adopting the self-adapting window. Because the method has better environmental suitability and obstacle avoiding capacity, the method obtains good safety and reach ability, has high calculation real-time property, so the method solves the problem that the mobile robot generates an obstacle avoidance path in real time in an uncertain complex environment, provides a path selection method with optimized integration, better meets the requirements on obstacle avoidance for the mobile robot, realizes the real-time path planning and control of the robot, and provides an effective collision-less path planning method for the navigation application of the mobile robot.