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Aiming at the problem of long path planning time of traditional jump point search(JPS) algorithm in grid map with random obstacle location, a parallel alternate bidirectional jump point search algorithm(PA-BJPS) is proposed. Firstly, a central hot spot area is determined between the starting point and the target point; Secondly, the parallel bidirectional jump point search algorithm with improved estimated cost function is used to plan the paths from the starting point and the target point to the central hot spot area respectively; Then, the alternate bidirectional jump point search algorithm is used to plan the path inside the central hot spot area; Finally, an iterative path correction method is proposed to improve the dangerous path, and the cubic B-spline curve is used to replace the corners to smooth the path. The simulation results show that PA-BJPS algorithm effectively shortens the path planning time and improves the security and smoothness of the planned path.