The present disclosure discloses a method for path planning after removing an obstacle from a lawn to be mowed, the method including: starting a boundary editing interface for the lawn to be mowed to display inner boundary information； detecting an obstacle selection and removal instruction of a user； deleting information data that is stored in a memory and/or database and associated with the information mark of the obstacle to be removed； reloading all currently-stored boundary information； and displaying the updated schematic diagram of the lawn and the updated path planning information on a display screen. The present disclosure also discloses a method and system for path planning after adding an obstacle to a lawn to be mowed, and a system for path planning after removing an obstacle from a lawn to be mowed.
