In order to achieve the smooth motion of the mobile robot point-to-point, it is necessary to plan a smooth path to make the mobile robot reach the target position and target direction. Aiming at the problems of traditional Turn-Run-Turn method such as discontinuous and inefficient path, the arc-beeline-arc path planning method was proposed and then the theoretical derivation was put forward on the basis of bi-arc theory. The method of the proposed method was verified by using the crawler mobile platform in the laboratory. The experimental results showed that the mobile platform could reach the target position and direction, in which the mean value of the lateral error was 10.5 cm, the mean of the longitudinal error was 3.7 cm and the mean value of the direction error was 1.5 °.