Aimed at the problems that the life time of nodes is limited, and the delivery rate is low in the cluster network because the platform of miniature military drone is small in size, the drone is high at speed, and the energy is limited, this paper proposes a wireless Ad Hoc network routing algorithm (DijkstraCompound Weight Routing Algorithm, DijkatraCWRA) with compound weight by referring to the greedy algorithm. In order to reduce the influence of edge nodes and lowenergy nodes on the path, two optimization parameters, boundary evaluation factor and energy balance, are added to the algorithm to screen the nodes, and the idea of Dijkstra algorithm is used to find the forwarding path with the minimum energycongestion compound weight in the network for data transmission. The simulation results show that compared with the AODV algorithm and the AOMDV algorithm, the proposed algorithm has good performance in aspects of the delivery success rate, the endtoend delay, the network lifetime and the routing overhead.