Path planning method, path planning device and computer storage medium

The invention provides a path planning method, a path planning device and a computer storage medium. The path planning method comprises the following steps: in response to alignment failure of a first center point of a mobile robot and a second center point of a goods shelf, obtaining a size type of the goods shelf; when the size type of the goods shelf is a wide goods shelf, obtaining a first moving path from the first center point to the second center point; obtaining pose information of the goods shelf; acquiring a first rotation path according to the pose information of the goods shelf when the mobile robot is at the second center point; and acquiring a planned path of the mobile robot based on the first moving path and the first rotating path. By means of the path planning method, the size type of the goods shelf where the mobile robot is located is considered, the posture adjusting mode of the mobile robot is selected, and the planned path is safer and more efficient. 本申请提出一种路径规划方法、路径规划装置以及计算机存储介质。所述路径规