The mobile robot can sense the surrounding environment，and can plan the path to reach the target point in real time， among which the obstacle avoidance problem is the focus of the research. A control scheme for path planning transformation of mobile robot in obstacle avoidance without detailed environmental information is designed.In this scheme，the robot can according to the motion tracking mode，obstacle avoidance model and robot state gradually approaching the target，using the Matlab simulation experiment in any shape obstacles as far as possible. The obstacle experiment verifies the effectiveness of the adaptive path planning control scheme is proposed.