A method for planning a scanning path of a frequency-modulated LiDAR scanner, in which multiple boundary points of a polygonal scanning region are defined; a boundary direction is standardized; a scanning direction is defined by determining an included angle α between a movement direction of a measurement light spot and an X-axis; a scan line spacing is defined; a scanning starting point is determined; a control point sequence is generated; and the control points is rotated by an angle of −α about a centroid of the boundary points to output final path control points. An electronic device and a computer-readable storage medium for performing such method are further provided.