Mechanical arm path control method based on ant colony-bidirectional RRT node elimination

The invention provides a mechanical arm path control method based on ant colony-bidirectional RRT node rejection, and belongs to the technical field of robot control, by proposing a region optimization strategy, screening optimization is performed on extension nodes in a searched region of a search tree, redundant and invalid extension nodes are rejected, and redundant search and invalid excessive extension are avoided; a local path optimization algorithm of ant colony pheromones is introduced in order to prevent the search tree from falling into local optimum; effective global information is provided for the ant colony algorithm and rapid convergence of the ant colony is guided by using the global search advantage of a random sampling algorithm on a high-dimensional space, and meanwhile, multi-starting-point and multi-terminal-point simultaneous cross search is introduced, so that the diversity and randomness of a search space are improved, and the possibility that the algorithm falls into a local optimal so