Bidirectional RRT path planning method and device, electronic equipment and storage medium

The invention belongs to the technical field of path planning, and discloses a bidirectional RRT path planning method and device, electronic equipment and a storage medium, and the method comprises the steps: dividing a map into an obstacle region and a plurality of blank regions according to the contour of an obstacle; respectively taking a starting point and a target point as first nodes of two path trees, determining a blank area where a sampling point is located according to the contour of the obstacle area, and sampling in the determined blank area so as to alternately expand the nodes of the two path trees until the two path trees intersect, thereby obtaining an initial path; smoothing the initial path to obtain a final path; therefore, the path planning efficiency can be improved. 本申请属于路径规划技术领域，公开了一种双向RRT路径规划方法、装置、电子设备及存储介质，所述方法包括：根据障碍物的轮廓，把地图划分为障碍物区和多个空白区；分别以起始点和目标点为两棵路径树的首个节点，根据所述障碍物区的轮廓确定采样点所在的空白区，并在所确定的所述空白区内采样，以交替地扩展两棵路径树的节点，直到两棵所述路径树相交，以此得到初始路径；对所述初始路径进行平滑处理得到最终的路径；从而能够提高路径规划效率。