Path planning method and device, electronic equipment and storage medium

The invention provides a path planning method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining global environment information corresponding to an unknown environment, and determining a current path corresponding to an initial position and a final position according to the global environment information; segmenting the current path to obtain a plurality of segmented paths, and sampling the plurality of segmented paths to obtain a plurality of path points; when it is determined that the unmanned aerial vehicle collides with the target segmented path corresponding to the target path point, local environment information corresponding to the target segmented path obtained by a visual sensor is used to update global environment information, and new global environment information is obtained; and based on the new global environment information, determining a target path corresponding to the initial position and the final position by using an A * algorithm. Accordin