Abstract: To solve the path planning problem of robot in complex dynamic environment, a dynamic path planning method based on improved dung beetle optimizer (IDBO) and improved dynamic window algorithm (IDWA) is proposed. Firstly, the improved dung beetle algorithm is used to generate the global optimal path. Aiming at the problem that dung beetle algorithm is easy to fall into local optimal solution, a chaotic map initialization population, adaptive t-distribution disturbance strategy and spiral search strategy are proposed to improve the performance of the algorithm. Secondly, the improved dynamic window algorithm is used to track the global optimal path and avoid obstacles dynamically. In order to solve the problems of dynamic window method, such as collision and frequent linear velocity fluctuation, three improvement methods are proposed, which are combined with global path planning algorithm to prevent local optimization,the initial heading angle of the robot is set to reduce path redundancy,and the linear velocity change evaluation function is added to solve the problem of frequent linear velocity change.Finally, the two improved algorithms are fused, and dynamic and static path planning experiments are set up. Experimental results show that the proposed algorithm can realize real-time dynamic obstacle avoidance based on the global optimal path, and the planned path length is shorter, the security is higher, and the linear velocity sequence is smoother.