Due to the slow speed of the Rapid Expansion Random Tree (RRT) algorithm in path planning，computationally intensive and inefficient,In this paper, a path planning based on the combination of Two-Way Rapidly Extended Random Tree (RRT) algorithm and Artificial Potential Field Method (APF) was proposed.Firstly, the local path planning is carried out by using the artificial potential field method (APF) to provide the motion path.Secondly, by using the improved fast-expanding random tree algorithm to select the temporary target points,In order to solve the problem of falling into the minimum value in path planning, the artificial potential field method (APF) was introduced into the bidirectional RRT algorithm.Combine local path planning with global path planning to reduce run time and path length,Based on simulation experiments, the proposed method is significantly improved in terms of running time, path length and iteration times.