Path finding method and apparatus for robot, and device, and computer-readable storage medium

Abstract

A robot pathfinding method includes obtaining a position of a robot and a position of a charging base in a grid map; obtaining a shortest path from the position of the robot to the position of the charging base; determining candidate transfer stations from the position of the robot to the position of the charging base if the shortest path passes through obstacles; determining a first target transfer station corresponding to the position of the robot and a second target transfer station corresponding to the position of the charging base from the candidate transfer stations; obtaining all candidate transfer paths from the first target transfer station to the second target transfer station; taking the candidate path that is shortest and does not pass through obstacles as a target transfer path; and determining a target path from the position of the robot to the position of the charging base according to a path from the position of the robot to the first target transfer station, the target transfer path, and a path from the second target transfer station to the position of the charging base. Related apparatus, devices, and non-transitory computer-readable storage mediums are disclosed.