Advancing path planning method and device and intelligent equipment advancing path planning method and device

The invention discloses an advancing path planning method and device and an intelligent equipment advancing path planning method and device. In the advancing path planning method, the method comprisesthe steps of: collecting environmental data in a target range; converting environmental data into a raster map; converting the grid map into a cost map; intercepting a required polygonal region in the cost map; representing an obstacle grid, a non-obstacle grid and a boundary grid by using gray scale in a required polygonal area; selecting one non-obstacle grid as a current grid, calculating thedistance between the current grid and the nearest obstacle grid, the obstacle distance of the non-obstacle grids around the current grid is calculated based on the distance, the non-obstacle grids with the equal obstacle distance are connected, and an equidistant line is obtained; calculating equidistant lines of all non-obstacle grids in the required polygonal area; and planning a path accordingto the equidistant lines ar