Abstract: Slot allocation is an important issue for Time Division Multiple Access (TDMA) wireless multihop networks. A novel transmission scheduling algorithm, referred as Collision Avoidance-Proper Robust Schedule (CA-PRS) algorithm is presented. The distinguished difference from the traditional Proper Robust Schedule (PRS) is that CA-PRS algorithm can adjust the slot assignments in response to topology changes, to avoid transmission contention. The proposed algorithm has some properties, such as low protocol overhead, easy to implement, and without the requirement of the nodal degree. Simulation results reveal that CA-PRS algorithm has the advantage over simple-PRS and therefore has much higher utilization of wireless resources.