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This paper proposes an adaptive queue management mechanism (AQM) based on bandwidth estimation for real-time multimedia streaming over mobile ad hoc networks. The purpose is to provide the soft QoS guarantee. At first, we use GM (1, 1) model to predict network bandwidth. On this basis, a mathematical model is proposed to determine a reasonable queue length, thus adjusting the queue length dynamically. To evaluate the AQM performance, we generate a set of video streams using NS2 simulation for typical network scenarios. Our statistical and mathematical analyses demonstrate that the AQM improves the performance of multimedia streaming significantly, in terms of packet loss rate and mean end-to-end delay.