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Wireless geographic Ad Hoc routing has been extensively studied in recent years. As geographic routing has topology-unrelated features, and it can independently selects the next hop with local location information, it is suitable for large-scale Ad Hoc networks. However, geographic forwarding suffers from a problem of how to do at the local minimum node where greedy forwarding fails. In this paper, we proposed the heuristic algorithm to solve this problem, and proposed an improved heuristic algorithm which constrains the forwarding on the basis of the adjacent connection-grid instead of jumping over the world like the static networks because of the limited power of wireless nodes. This scheme can not only overcome the complexity of the planar graph routing, but also provide the prediction of the void to cope with the complex terrain problem. Simulation results show that our solutions can significantly reduce the number of the extended nodes, improve the packet delivery success rate and decrease the routing overhead.