In response to the shortcomings of the Rapidly-exploring Random Tree connect (RRT-connect) algorithm in terms of time consumption and randomness of node sampling during path planning, the RRT-connect algorithm based on gravitational field guidance is proposed. The algorithm sets a third node as a new extension node between the start and end of the path so that it alternates between the three nodes to expand the random tree, while superimposing a gravitational field on each node to guide the direction of node generation in order to reduce the search range of the invalid space. The algorithm was studied in simulation experiments in three scenarios with few obstacles, many obstacles and the presence of narrow passages, and the results showed that the improved algorithm reduced the average number of iterations by 47.1% and the average path planning time by 43.4% compared to the base algorithm. This demonstrates that the improved algorithm can effectively reduce the planning time and has higher planning efficiency than the RRT-connect algorithm.