采用粒子群算法解决tsp问题，其中避障部分采用蚁群算法，找出每两个城市之间的避障路径
空间：三维(The particle swarm optimization (PSO) algorithm is used to solve the TSP problem, in which the obstacle avoidance part uses ant colony algorithm to find out the obstacle avoidance path between every two cities
Space: three-dimensional)