To improve the efficiency of atuo mated guided vehicle(AGV) and its executive capability to avoid obstacles, a global path planning method, that is, the method of controlling multiple objectives and speed, in both static and dynamic environments is proposed. In static environment, a multi-objective mathematical model for path planning is established based on the shortest path and maximum smoothness. The proposed improved algorithm is adopted for solution and selection, and the travelling path for AGV is obtained. In dynamic environment, according to the movement of the moving obstacles, the induction steering algorithm is raised, which makes the AGV avoid obstacles properly. On the basis of steering features in both static and dynamic environments, the rule of controlling AGV speed is assumed and applied in the process of sheering in both kinds of environment, to ensure that the AGV can run more steadily and smoothly with a high speed. According to the simulation experiment, the proposed method can guarantee that the AGV can avoid obstacles in a free way in both static and dynamic environments, and thus, both its speed and efficiency are improved. While compared with the conventional algorithm, the improved algorithm has a significant improvement in terms of time and accuracy.