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Wireless Sensor Networks (WSN) now advance into areas where new scenarios and applications require WSNs to meet certain Quality of Service (QoS) requirements. To tackle these challenges, a routing approach has to consider limited energy supply of sensor nodes, dynamic network conditions as well as node mobility. This paper presents QoS-AODV6E, a routing scheme based on the Ad-hoc On-Demand Distance Vector (AODV) routing protocol, which encompasses QoS and Energy-Awareness for mobile WSNs. Based on the reactive AODV routing protocol, QoS-AODV6E allows applications to specify QoS parameters and finds suitable routes that support their requirements. In order to prolong the lifetime of the network, QoS-AODV6E balances the energy consumption between different paths through the network based on the weakest node. We evaluate our implementation of QoS-AODV6E in Contiki using simulation and measurements.