说明：  针对基本快速扩展随机树(RRT)算法存在搜索过于平均、效率低下、用时较长的缺陷，提出了一种偏向目标型的改进型RRT算法。这种算法在生成随机点时以一定概率选择最终目标点作为局部目标点，使树的扩展有一个趋向于最终目标点的趋势，从而加快了算法的收敛速度，优化了规划路径
(For basic fast Random Tree (RRT) search algorithm exists too mean, inefficient, long time with defects, we proposed a goal-biased improved RRT algorithm. This algorithm when generating random points with a certain probability of selecting a final destination point as a local target, enabling the expansion of the tree has a tendency to trend the final destination point, thereby speeding up the convergence of the algorithm, optimized route planning)