Path planning method and device, computer equipment and storage medium

The embodiment of the invention belongs to the technical field of robot path finding, and relates to a path planning method, which comprises the following steps: controlling a robot to move accordingto a default walking mode, and marking a traversal coordinate of the robot as a completion point, wherein the origin of a coordinate system of the coordinate is the initial position of the robot, andunder the initial state, the points except the origin of the coordinate system in the coordinate system are all uncompleted points; if the robot collides, recording adjacent coordinates in the movingdirection of the robot as obstacle points; driving the robot to move to the adjacent uncompleted points until the traversal of the adjacent uncompleted points of the robot is finished; and driving therobot to move to a missing scanning area, and controlling the robot to move according to the default walking mode until traversal of the missing scanning area is completed, wherein the missing scanning area is an area formed by