The combination of time slotted access and channel hopping technology in IEEE 802.15 TSCH networks enables high reliability and low power operation to meet the stability and real-time requirements of industrial applications. Basically, TSCH and RPL, a routing protocol for TSCH, are proposed for static nodes that generate fewer control messages, so they allow collisions in shared cells when they exchange control messages. In a topology containing mobile nodes, the collision of control messages in a shared cell makes the network difficult to recover quickly. The proposed scheme minimizes the collision of control messages by allocating dedicated control cells to form preferred parent nodes quickly for mobile nodes. We also proposed a method for establishing a fixed route from the root node to the mobile node in RPL to minimize the delay time. Through the simulation using the 6TiSCH simulator, it was confirmed that the performance of the proposed method was approximately 2.5 times better in terms of overhead and resource use, and 33% better in terms of network participation time of mobile nodes compared with existing solutions.