Grid map-based robot pathfinding method and apparatus, robot and storage medium

A grid map-based robot pathfinding apparatus, comprising:

• an obtaining module configured to obtain a first grid map and a second grid map, wherein the second grid map is generated by merging grids in the first grid map, and the resolution of the second grid map is lower than that of the first grid map;
• a planning unit configured to plan a travel path of a robot from a current position to a preset target point according to the second grid map;
• and
• a processing unit configured to:
• determine an obstacle position if the travel path is impassable, determine a first path of the robot from the current position to the obstacle position based on the second grid map, and determine a second path of the robot from the preset target point to the obstacle position based on the second grid map;
• plan a transition path from an endpoint of the first path to an endpoint of the second path according to the first grid map;
• and
• obtain a target path of the robot according to the first path, the second path, and the transition path,
• wherein the apparatus drives the robot from the current position to the preset target point by following the target path.