To address the issues of low path planning efficiency, poor obstacle avoidance capability, and low path quality of the RRT-Connect algorithm in complex environments, an improved RRT-Connect algorithm was proposed. Firstly, a bidirectional goal bias strategy was introduced to enhance the goal-directedness and path planning efficiency of the algorithm. Secondly, an obstacle avoidance optimization strategy was proposed to increase the algorithm's active obstacle avoidance capability and passage ability in complex environments. Finally, a path recombination strategy and a smoothing strategy were added to optimize the generated initial path, reducing path length and the number of turns, and improving path quality. The improved algorithm was compared with other algorithms in three complex environments using MATLAB. Simulation results show that the improved algorithm has less planning time, shorter path length, fewer sampling times, and a higher success rate of path planning, demonstrating the effectiveness of the improved algorithm in complex environments.