Mobile robot path planning method and device and path planning device

The invention provides a mobile robot path planning method and device and a path planning device. The method comprises the steps that the path coordinate of each position point on a movement path which is acquired according to the environment information, the start position and the target position planning is determined; among all path coordinates, a detour coordinate is determined, wherein the distance between the detour coordinate and an obstacle in the environment information is less than a first threshold; according to the detour coordinate, a to-be-optimized section which does not include the detour coordinate on the movement path is determined; and the position coordinate of each position point on the section to be optimized is adjusted until the section length of the section to be optimized satisfies a preset smoothing condition, so as to acquire the optimized movement path. According to the invention, the smoothness of the movement path is improved, and the movement efficiency of a mobile robot is eff