Abstract: Systems and methods are provided for path finding. For example, a map is obtained; a plurality of first nodes in the map are determined, the first nodes being reachable nodes in the map; the first nodes are merged to obtain one or more second nodes according to a predetermined order based on at least information associated with one or more predetermined rules; the first nodes are marked as associated with the second nodes; and a path-finding algorithm is executed using the second nodes as independent nodes in order to obtain a path from a start node to a target node.