For the data collection in wireless sensor network with mobile sinks, rendezvous based scheme can reduce latency significantly. Aimed at improving energy efficiency and reducing latency, this paper presents an MS trajectory planning algorithm MS-TPA. MS-TPA mainly includes RN competition and the trajectory planning of MS. The residual energy first RN competition mechanism leads to balanced energy consumption and the trajectory planning algorithm of MS reduces the latency of data collection. The simulation validates its effectiveness.