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A routing protocol that is appropriate for an ad hoc network is needed. But research into routing protocols for ad hoc networks so far have mainly targeted efficiency and assume a trusted environment. But these protocols are not well operated in the networks that adversaries exist in. We propose a new on-demand secure routing protocol for ad hoc networks using an ID based cryptosystem. Our protocol can authenticate all nodes in the routing path with less network resource consumption than previous secure routing protocols. And our protocol does not need the fixed infrastructure without unrealistic assumptions because of using an ID based cryptosystem.