Raster data processing method and device, mobile robot and storage medium

The embodiment of the invention provides a raster data processing method and device, a mobile robot and a storage medium. The method comprises the steps that raster points searched in a raster map in a current search period can be divided into a first set or a second set corresponding to the current period. The first set comprises a part of grid points with smaller cost values in the searched grid points after the current search period and the previous search period, and the second set can comprise the remaining grid points. And then, in the first set or the second set corresponding to the current search period, determining the grid point of which the cost value is the extreme value as a target grid point corresponding to the current search period. Finally, the target grid points corresponding to different search periods can form a search result. In the method, each search period is to search in part of grid nodes searched in the search period and the previous search period, namely, the search range of the gr