In order to solve the problems of path redundancy,blindness and slow search speed in the path planning process of RRT algorithm,a path planning algorithm for unmanned ship complex environment based on improved two-way RRT* algorithm was proposed.The algorithm searches for and adds intermediate root nodes by improving the RRT algorithm.Combining target para-noid strategy,gravitational field and greedy search strategy,the dynamic step size adjustment method was used to replace the origi-nal fixed step size growth.B-spline smoothing and other methods can better solve the problems of long paths,slow search speed,and lack of regionality.The effectiveness and usability of the improved bidirectional RRT*algorithm are verified by simulation.
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