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In recent years, many location-aware routing protocols have been proposed for mobile ad hoc networks. The efficiency of the routing protocols can be improved by considering the location information of the mobile nodes (MNs). However, the mobility characteristics of the MNs have not been taken into account in most of the related work. In this paper, the proposed velocity-aided routing (VAR) algorithm determines its packet forwarding scheme based on the relative velocity between the intended forwarding node and the destination node. The routing performance can further be improved by the proposed predictive mobility and location-aware routing (PMLAR) algorithm, which incorporates the predictive moving behaviors of MNs in protocol design. The region for packet forwarding is determined by predicting the future trajectory of the destination node. The routing performance can be effectively enhanced by adopting both the proactive maintenance and the VAR mechanisms within the proposed PMLAR scheme. Simulation results show that the PMLAR protocol associated with its derivative schemes outperforms other routing protocols under different network topologies.