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Considering the need for an optimised routing strategy as the most effective network dynamic for the lifetime and overall performance of a relay-based unstructured network, commonly used in wireless sensor systems, usually has been overlooked in order to be properly adopted for its practical real-time working environment has been studied in this paper. Following an investigation for using the quality-of-service management routing strategy, the authors propose a velocity-based routing protocol with a reliability and energy-efficiency routing scheme to enhance the network real-time routing performance, energy efficiency and transmission reliability upon adopting our new routing method. Our proposed method makes use of some intelligent functions (on the fly) including (i) selection of eligible relay node using two-hop neighbourhood information, (ii) estimated delivery velocity and (iii) energy aware-based energy-cost using the newly defined performance index. Some extensive simulation results are gathered and compared with our experimental results obtained for conventional routing schemes. The numerical results validate our claims of superiority of the new routing method for flexibility upon diversified requirements in different application scenarios.