Robot path planning method, device, electronic equipment and medium

A robot path planning device, wherein the device comprises:

• construction module, used to construct a planar graph of the area to be worked on, and partition the planar graph using a preset partitioning algorithm to obtain multiple work partitions, and determine the work order of the robot in each work partition;
• first determination module, used to determine a bow-shaped path parameter and path baseline in a first work partition when moving to the first work partition among the multiple work partitions in accordance with the work order;
• first control module, used to control the robot to move in the first work partition according to the bow-shaped path parameter and the path baseline;
• second determination module, used to determine the path parameter and path baseline of the first work partition as the path parameter and path baseline of the next work partition when moving to the next work partition of the first work partition;
• third determination module, used to determine a starting route of the next working partition according to the path baseline, the bow-shaped path parameters and the boundary information of the next working partition;
• second control module, used to control the robot to move in the next work partition based on the starting route and the bow-shaped path parameter.