This study proposes an improved routing algorithm based on the neighbor table， called EMTR， to solve the problem that the packet transmission path is not being optimal in the tree routing algorithm of msstatePAN. The algorithm uses the information of the current， destination， and neighbor nodes in the neighbor table to find the path with the least number of hops from the source node to destination node， filters the node with a low energy through threshold， selects the optimal path with the same number of hops by comparing the link quality indication of nodes， and effectively avoids the conflicts in the path selection process. Experimental results show that the number of transmission hops is reduced by 35.8%； the network delay is reduced by 51.5%； and the node energy consumption is reduced by 16.1% at the end of the simulation. The algorithm not only provides an approximate optimal routing path but also maintains the advantages of tree routing， such as no routing table maintenance overhead and low memory consumption. In the case of the limited neighbor table maintenance overhead， the algorithm balances the energy of the network nodes， prolongs the network lifetime， and reduces the transmission delays and hops.