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Many routing protocols have been proposed for ad hoc networks and many research works have been done to improve the performance of routing protocols. However, they can not overcome the problems of edge effect and route break at same time without incurring heavy control overhead. In this paper, based on the analysis of routing problem, a self-healing routing scheme based on AODV (SHAODV) is proposed. In this scheme, routes can be constructed with long lifetime and unstable route can be self-heal to stable one before being broken absolutely. Simulation shows that the scheme wins lower average route overhead and lower times of route break than AODV.