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As a new networking topology, Wireless Mesh Networks (WMNs) have advantageous properties in terms of robustness, range extension and density, but also have significant potential disadvantages, which determines some classical routing algorithms are not very suitable for WMNs. In this paper, we propose a novel routing algorithm based on the WMNs access scheme design to improve the networks performance. The new scheme, which is called TDTPA, guarantees the QoS for different data streams through cross-layer design to accomplish the token distribution and target programming without bringing heavy extra-load. Both theoretical analyses and simulation results show that the proposed algorithm outperforms the existing protocols for WMNs in terms of the packet success delivery ratio (PSDR), average point-to-point delay (APPD) and routing consumption.