Abstract: Wireless sensor and actor network (WSAN) was derived from WSN by adding actor nodes which would make decisions and executive scheduled tasks,and a new cooperative routing protocol based on the characteristics of WSAN network was proposed—the angle forwarding routing protocol based on dynamic clustering (AFRPDC),which consists of a RSSI-based dynamic clustering algorithm (BRCA) and an angle forwarding routing protocol (AFRP)．The cluster-head election was improved and the stable topology was constructed in BRCA．Then,event data was transmitted directly to cluster-head nodes by sensor nodes using peer-to-peer communications,and was reported to actor nodes by cluster-head nodes with AFRP．Next-hop nodes were selected using angle informations and multi-path routings were found from source cluster-head nodes to actor nodes．The routing path with minimum delay was established when transfering event data．The simulation results show that the proposed cooperative routing protocol has better perfor-mance than the directed diffusion protocol based on link-state clustering (DDLSC) in reducing the latency and power consumption,and prove that the protocol could meet the requirements of real-time,reliability and low energy comsumption in WSAN.

Key words: WSAN,RSSI,Dynamic clustering,Angle forwarding,Cooperative routing