The Automatic guided vehicle needs to avoid not only static obstacles, but also moving obstacles in the process of driving, and the commonly used dynamic window local path planning algorithm is difficult to meet the actual needs of the success rate of obstacle avoidance and obstacle avoidance efficiency in such cases. In this paper, a new adaptive dynamic window local path planning algorithm is proposed based on the analytic hierarchy process. Firstly, the analytic hierarchy process is used to calculate the value of the weight factor in the dynamic window approach. Then, a collision safety index is proposed to evaluate the safety of the current running state, and the self-feedback mechanism between the weight factor and the environmental factors is established by combining the safety membership function of the relevant parameters. Finally, the obstacle avoidance route is planned based on the created adaptive dynamic window approach. The simulation results show that the proposed adaptive dynamic window approach can adaptively adjust the weight factor of the evaluation function, effectively avoid static obstacles and moving obstacles, and has been significantly optimized in terms of travel time, path length and safety.