The present invention discloses an environment modeling and path storage method for path planning of a deformable two-state detection
robot, including environment modeling, basic path planning and path secondary planning, path compression transmission, path decompression and the
robot executing the decompressed path; in terms of environment modeling, a "quadratic grid method" environment modeling is adopted, and the basic path planning work is completed by an existing
cockroach algorithm (see authorized patent ZL201710242657.2); wherein, the real
robot involved is a robot whose appearance size is changed by deformation technology, and it can pass through a narrow area by deformation; the present invention realizes a path planning scheme for a robot with changeable size, realizes more possibilities for the application of the robot, the robot can pass through a narrow space in its original state, and can detect a larger range in its deformed state.