This approach makes robot path planning distinguished from the traditional raster method, then with the window rolling it can achieve global path planning, avoiding the traditional method of grid environment, low resolution of information thereserves big shortcoming, so it has certain research and application value. This method does not only adapt to the static obstacles, but also to the dynamic obstacles. Lastly, the path selected is optimized by Bezier curve. Simulation results prove the effectiveness of the proposed algorithm.