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The paper presents a novel dynamic load-aware based load-balanced routing (DLBL) algorithm for ad hoc networks. DLBL considers an intermediate node routing load as the primary route selection metric while discovering a route; this can lead to less network congestion and fewer bottlenecks. During route maintaining periods, DLBL deals, by a distributed mechanism, with the congestion of active routes when nodes or the routes have their queue overload, at the same time with little overhead increment. When a link breaks because of node mobility or power off, etc., DLBL provides efficient path maintenance to patch up broken links to help get a robust route from the source to the destination. By presenting and analyzing simulation results, DLBL is shown to result in good performance of packet delivery ratio and average end-to-end delay, while exhibiting many attractive features of distributed control to adapt to dynamic ad hoc networks.