Aiming at the path planning for coal mine detection robot in unknown static environment, a path planning method is propounded which couples behavioural dynamics with rolling scan information. Firstly, the method of sub-target's choice is provided using heuristic function according to the rolling scan information L it is local environment information L which is obtained by sensors. Then path planning is divided into trending to target behaviour and obstacle avoidance behaviour L their behaviour state and behaviour pattern dynamics modes are established L and then one autonomous local path planning technology is implemented using behaviour dynamics mode in a single rolling scan region. Connecting a series of local paths tandem according to continuity, the global path planning is accomplished ultimately. The method has a simple principle and low calculating burden L smooth path and high applied value. The method's efficiency and adaptability is verified by simulation experiment. (5 pages)