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According to the low efficiency of particle swarm optimization algorithm applied in mobile robot path planning with complex constraints, a novel boundary constraints handling mechanism was put forward through analyzing the type of constraints. In addition, the path planning method based on second-order oscillating particle swarm optimization (SOPSO) was proposed to improve the properties of solutions, in which the searching ability of particles was enhanced by controlling the process of oscillating convergence and asymptotic convergence. A comparison of the results was made by simple PSO, standard PSO, chaotic particle swarm optimization (CPSO) and SOPSO, which showed that SOPSO has the highest efficiency and accuracy. SOPSO is much more suitable for solving this kind of problem.