阐述了智能水下机器人的路径规划方法。首先介绍了自行研制的智能水下机器人的系统组成，然后讨论了其规划方法，并着重介绍了体现水下智能机器人自主能力的全局规划器和局部规划器。 The path planning method of intelligent underwater robot is described. Firstly, the system composition of self-developed intelligent underwater robots is introduced. Then, the planning methods are discussed, and the global planner and local planner that embody autonomous capabilities of underwater intelligent robots are emphatically introduced.