Path planning method and device, robot and storage medium

A path planning device, comprising:

• a processing module, configured for grading a traversable region between a starting point and an end point in a grid map, and determining cost values corresponding to regions of each level;
• a traversal module, configured for traversing the traversable region from the starting point based on the cost values of the regions of each level, and determining a plurality of target nodes conforming to a minimum value of a preset function;
• and
• a determination module, configured for determining a target path of a robot based on the plurality of target nodes.

A robot, comprising:

• a processor and a memory, wherein the processor is configured for executing a path planning program stored in the memory to implement operations, the operations comprising:
• grading a traversable region between a starting point and an end point in a grid map, and determining cost values corresponding to regions of each level;
• traversing the traversable region from the starting point based on the cost values of the regions of each level, and determining a plurality of target nodes conforming to a minimum value of a preset function;
• and
• determining a target path of a robot based on the plurality of target nodes.