Aiming at the problem that the bidirectional A*（ B-A*） algorithm search

too many useless intervals in the process of generating path in the obstacle space

and there are many redundant points and inflection points in the generated path

a high efficient path planning algorithm based on B-A*improvement

referred to as EB-A*is proposed. Firstly

the algorithm introduces an intelligent sampling function

which makes the interval search more directional

thus reducing the useless interval search. Secondly

the elite search strategy is adopted

so that the improved algorithm uses different search matrices according to the relative position of the target point and the current point

which further reduces the pathfinding time. Finally

the path smoothing strategy is adopted to delete redundant points in the path and smooth the generated path. Simulation experiments show that the improved algorithm can improve work efficiency and smooth the generation path.