RRT multi-robot formation path planning algorithm based on target guidance

The invention discloses an RRT multi-robot formation path planning algorithm based on target guidance. A path planning problem is very important in the field of robot research, multi-robot path planning is more complex than single-robot path planning, and problems such as multi-robot obstacle avoidance and mutual cooperation need to be considered during planning. The invention provides an improved RRT (fast search random tree) algorithm aiming at the problems of high randomness, path tortuosity, low efficiency and the like of the RRT algorithm in a global path planning algorithm. The problem of low efficiency caused by excessively random node generation is solved by improving a generation mode of a new node and expanding to a target direction; the new node directly extending towards the target direction is stored as the nearest node extending towards the target direction next time, so that the time complexity of finding the nearest node is reduced; the nearest node which directly fails to expand towards the t