In the heterogeneous network, MANETs are the collective gathering of diverse mobile devices with the ability to join and leave the network at any moment as the most prominent feature. As a consequence, mobile nodes in the decentralized network may link, interact, and transfer information to one another without the need of an intermediary router. Several academics have recently explored a variety of routing approaches to tackle issues such as packet data transmission delays and poor PDR. This paper aims to introduce a new trust-aware routing in MANET that ensures the trust level among the nodes. For this, a new trust rate estimation process is introduced based on energy and mobility of nodes exist. Thereby, a Self-Improved Particle Swarm optimization algorithm (SI-PSO) is proposed for choosing the optimal trust aware route for data transmission. The optimal route selection is performed by considering certain parameters like trust rate (security), Packet Drop Ratio (PDR) distance, congestion, energy, and as well. The performance of the adopted work is examined to the existing schemes regarding Energy, Delay, and Network Lifetime.