We propose a travel route and relay control method to increase the system throughput in ad hoc networks with beamforming for multiple autonomous mobile robots (AMRs). Each AMR shares the bandwidth. As the number of hops increases, each AMR decreases its transmission opportunity, and thus, the system throughput decreases. To increase the throughput, the proposed method controls the travel route of each AMR to its destination to avoid the beams by the other AMRs. The key idea enables each AMR to decrease the interference. Our results highlighted that the proposed method achieved a 70% better throughput than an existing relay control considering no beamforming.