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Position based routing methods can construct effective routes; however, in some topologies with obstacles, such algorithms may end in failure. In order to avoid stationary obstacles, this paper presents a Voronoi-trajectory based hybrid routing (VTBR) algorithm that combines both proactive and reactive routing strategies to provide high routing performance. If the destination node is within the source nodes two-hop range, then the source will consult the routing table to determine the route. When the destination is beyond that range, the source establishes a trajectory which is the set of points of the shortest obstacle-avoiding path. The intermediate nodes take the forwarding decision based on the relationship to the trajectory. Eventually, an example and simulation experiments are conducted to validate and evaluate the performance of VTBR. Our simulation results show that the proposed algorithm makes it possible to successfully construct the routes.