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MANET is an autonomous system of mobile wireless nodes connected dynamically without any preexisting infrastructure. Since the nodes are mobile, the network topology changes rapidly and unpredictably over time. The QoS routing has challenging problems due to the network's dynamic topology and limited resources. If only one single constraint condition is considered when making routing decision, QoS can't be guaranteed because the constraint conditions may change and other factors can also affect network performance. In this paper, hop-count, bandwidth, and mobile speed are considered for routing decision. Accounting for the uncertainty of route information in ad-hoc networks, fuzzy logic system is adopted. The simulation is based upon Ad-hoc on demand Distance Vector and considers that data are always transmitted through the route with the lowest delay for real time traffic. The performance of proposed scheme will be evaluated with NS-2 simulator in terms of packet delivery ratio and end-to-end delay.