A pipeline path planning and modeling method was proposed based on improved Rapidly-exploring Random Tree (RRT) algorithm to deal with the problems of low efficiency, poor reliability and difficulty in change in pipeline path planning.First of all, the BidirectionalRRT algorithm was introduced to reduce the divergence of random tree growth by increasing the probability of selecting a target point and importing the path cache;Then greedy algorithm was used to remove redundant path points, and Catmull-Rom curve was used for key point curve fitting;Meanwhile flexible pipe bend radius constraints were applied.The improved RRT algorithm was used to design the cable path planning and realize the path planning and simulation of the cable in the Unity scenario.