Aiming at the problems of the path planning algorithm, such as slow convergence and low efficiency, a multi-Agent path planning algorithm based on hierarchical reinforcement learning and artificial potential field was proposed. Firstly, the multi-Agent operating environment was regarded as an artificial potential field, the potential energy of every point, which represented the maximal rewards obtained according to the optimal strategy, was determined by the priori knowledge. Then, the update process of strategy was limited to smaller local space or lower dimension of high-level space to enhance the performance of learning algorithm by using model learning without environment and partial update of hierarchical reinforcement learning. Finally, aiming at the problem of taxi, the simulation experiment of the proposed algorithm was done in grid environment. To close to the real environment and increase the portability of the algorithm, the proposed algorithm was verified in three-dimensional simulation environment. The experimental results show that the convergence speed of the algorithm is fast, and the convergence procedure is stable.