The aim of this work is to propose a QoS routing algorithm in MANETs. The proposed algorithm predicts the future states of nodes including buffer level and position. Predicting the future state of node, the algorithm could decide whether a node is a good selection as a router or not. Through this algorithm, more stable and lower buffer level nodes are selected and hence QoS routing parameter could be satisfied. The proposed algorithm outperforms even in high speed and high load network conditions. Simulation shows routing performance has been improved, especially in terms of end-to-end delay.