Aiming　at　the　lack　of　stability　and　slow　convergence　of　rapidly　random-exploring　trees　(RRT)　algorithm,　an　improved　RRT　path　planning　algorithm　is　proposed.　Firstly,　based　on　bidirectional　search　path　planning　algorithm,　an　improved　combination　strategy　is　proposed.　The　combination　strategy　combines　target　point　search　strategy　with　random　search　strategy,　which　not　only　improve　the　efficiency　of　searching　but　also　guarantees　the　fast　speed　and　obstacle　avoidance.　Finally,　the　algorithm　smooths　the　redundant　points　and　creates　a　new　smooth　route.　The　simulation　experiment　results　demonstrate　the　effectiveness　and　stability　of　the　proposed　algorithm.