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QoS-aware routing algorithm is important in wireless multimedia sensor networks. This paper formulates a generalized QoS-aware routing model on the basis of multiple routing metrics and priorities of packets. It first introduces a 2D plain-based routing algorithm IPACR which improves the standard ant colony algorithm by optimizing the initial distribution of artificial pheromone in order to accelerate the algorithm convergence rate. Then it presents a clustering-based routing algorithm ICACR which can be well applied in a large scale network. Both the numerical algorithm performance analysis and simulation of IPACR and ICACR are given. The results show that ICACR outperforms IPACR in terms of both network lifetime and QoS-aware routing metrics in large scale wireless multimedia sensor networks. Moreover, the simulation based on the real video traces shows that the extension of the multi-path to ICACR for different priorities of video frames can achieve better performance.