Abstract: Wireless sensor/actuator networks for home automation have their own characteristics such as diversities in node's energy supply, computational power and mobility. This paper proposes a location-based on-demand routing protocol based on the analysis of those diversities. The routing protocol uses the location of static nodes to limit routing request packets, and mobile node's routing discovery is completed by its static neighbors to avoid dependence on localization technology of mobile node. NS2 is used to compare the performance of our routing protocol with AODV (ad hoc on-demand distance vector) routing protocol. The simulation results show that our routing protocol dramatically reduces routing overhead while increasing reliability.