Aiming at the problems that traditional ant colony optimization（ ACO） algorithm easy to fall into local optimization and slow rate of convergence

a dual population ant colony algorithm based on dynamic heuristic operator is proposed. Dynamic random heuristic function based on acquired path is presented to avoid the algorithm fall into local optimum; introduce new species and achieve population interaction through sharing pheromone

and adjust parameters of two population to accelerate convergence rate of algorithm. Path planning simulation experiment of mobile robot is carried out

and the results verify effectiveness of the improved algorithm.