Abstract: Most of the existed Ad hoc routing protocols have the disadvantages of high delay and can not satisfy the transmission requirements of real-time applications. Based on the Ad hoc On-demand Distance Vector Routing (AODV) protocol, a Real-time aware Ad hoc On-demand Distance Vector routing (RAODV) protocol is proposed in this paper. The performances of RAODV and AODV under different network conditions are compared by simulation experiments. The experiment results show that RAODV can obtain as good packet delivery fraction as AODV, but has lower average end-to-end delay of data packets and lower routing load than AODV under normal network load condition. Under high network load condition, the performances of the two protocols both declined. However, the performance of RAODV declined much smaller than that of AODV:the former has higher packet delivery fraction, lower average end-to-end delay of data packets, and routing load than the later.