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The Rapidly-exploring random Tree Star algorithm is used in the planning of mobile robots in practical applications,but there are many redundant turning points in the turning part of the planning path, which leads to multiple pauses and turns of mobile robot in the process of mobile turning.In order to eliminate the redundant path points in the planning path and improve the mobile fluency of the robot, an improved RRT * algorithm is proposed. In the algorithm, the local reverse order trial connection method is introduced into the path planning of mobile robot,and on the premise of ensuring the probability completeness and progressive optimality of RRT * algorithm, redundant path nodes in the planning path are eliminated,and the final path is closer to the shortest path.Through MATLAB simulation and experiments,it is proved that the average length of planning path is reduced by 4% and the algorithm time is reduced by 35%,and the improved RRT * algorithm can shorten the planning path and turn to part of the path more smoothly. Finally, the improved RRT* algorithm is used to conduct mobile robot path planning experiment in indoor environment.The experimental results show that there is no redundant path point on the planning path, and mobile robot moves smoothly along the path.