Abstract: Combined with the concentration regulation of immune algorithm based on PSO algorithm, this paper introduces "concentration of antibody selection"strategy and proposes an immune algorithm based on PSO approach so as to improve optimization performance of PSO algorithm. It is used in soccer robot path planning and making a robot from its starting point to its target point and it can effectively avoid obstacle and get the shortest path. The experiment result shows that the algorithm has efficient global searth capability and good convergence stability.