In this paper. we propose a new path planning algorithm based on the probabilistic roadmaps method (PRM). in order to effectively solve the autonomous path planning of mobile robots in complex environments with multiple narrow channels. The improved PRM algorithm mainly improves the density and distribution of sampling points in the narrow channel. https://safeersappliancers.shop/product-category/stoves-sterling-600df-mini-range-444440989-stainless-steel-60cm-wh/