Aiming at the imperfections of traditional artificial potential field (APF) method such as vibration, dead zone, local minimum, improved artificial potential field (IAPF) method with a combination of robot position, speed, accelerated speed, and obstacles’ position is presented. Taking advantage of the Morphin algorithm, which is high efficiency and easy to combine the global path planning algorithm, multilayer Morphin search tree algorithm is presented. First, IAPF method is used to complete the path of global planning. On this basis, the multilayer Morphin searching tree algorithm is used for path planning nearby obstacle. MATLAB simulation tests show that the mixed algorithm with IAPF and multilayer Morphin search tree algorithm can effectively shorten the path length and improve the efficiency to reach the target in the autonomous mobile robot path planning, efficiently complete path planning.