The invention is applicable to the technical field of robots, and provides a path planning method and device, a robot and a readable storage medium. The method comprises the following steps of: acquiring an initial position and a target position; if it is determined that the initial position and the target position are not in the same region, determining a cross-region path between a first regionwhere the initial position is located and a second region where the target position is located according to a pre-constructed cross-region topological map; and determining a target path according to the initial position, the target position and the cross-region path. According to the embodiment of the invention, the cross-region path planning is converted into the topological map from the grid map, so that on the one hand, the problem of frequent coordinate conversion caused by the fact that the grid map is a two-dimensional map when the path is planned according to the grid map can be solved;and on the other hand, the cross-region path is planned according to the topological map, the exploration problem of the grid map is converted into the search problem of the map, and the robot path planning efficiency is improved.