Aiming at the problem of low search efficiency of F-RRT* algorithm in narrow environment and complex environment with multiple obstacles, a F-RRT* algorithm based on bidirectional search (BF-RRT*) is proposed. Based on the F-RRT* algorithm, firstly, a two-way search structure is adopted, the double tree is expanded from the starting point and the ending point in turn, and the greedy heuristic is used to guide the random tree growth. Secondly, the redundant points generated in the continuous expansion process are eliminated. A low-cost path is obtained, which effectively improves the planning speed; then a heuristic function is introduced, and the connection points are optimized to improve the overall quality of the path. Finally, the improved algorithm is compared based on MATLAB and Gazebo simulation platforms. The results show that compared with the original algorithm, the algorithm reduces the number of iterations by 63.5% on average and the planning time by more than 88.41% in different environments. Improved planning efficiency.