An enhanced ant colony algorithm with communication mechanism was proposed to address the problem of insufficient utilization of historical paths in path planning of mobile robots using ant colony algorithm.The historical paths were integrated based on the contact characteristics of ant tentacles in nature to obtain better composite paths.In order to further improve the algorithm,an amplified roulette wheel method was proposed to accelerate convergence.An adaptive Sigmoid decay function was designed to optimize heuristic information at different stages.Specific optimization strategies were developed for various types of deadlock problems to reduce the number of deadlock ants.Finally,parameter determination and comparative experiments were conducted,the overall performance of the proposed algorithm had improved significantly in both simple and complex environments,and the experimental results proved the effectiveness of the proposed method.