Path planning method and device, computer equipment and storage medium

The invention discloses a path planning method, and the method comprises the steps: carrying out the path planning on an established grid map through employing an improved motion dynamics A * algorithm, generating an initial path, and distinguishing the speed and acceleration of land-air amphibious equipment in an air mode and a ground mode; then sampling the initial path through uniform discrete time to obtain a path point, switching the mode of the land-air amphibious equipment according to the height of the path point, and finally optimizing the initial path by using a segmented B-spline curve in combination with gradient information of B-spline control point abrupt degree, an Euclidean distance field, speed acceleration constraint and curvature constraint. The speed and acceleration of the air-ground amphibious equipment in the air mode and the ground mode are distinguished by using the improved kinematics A * algorithm, so that the air-ground amphibious equipment has higher maneuverability, and the path