We propose in this paper an algorithm for available bandwidth estimation in mobile ad hoc networks and its integration into a conventional routing protocol like AODV for improving the rate-adaptive video streaming. We have introduced in our approach a local estimation of the available bandwidth as well as a prediction of the consumed bandwidth. This information allows video application to adjust its transmission rate avoiding network congestion. We conducted a performance evaluation of our solution through simulation experiments using two network scenarios. In the simulation study, transmission of video streams encoded with the H.264/MPEG-4 advanced video coding standard was evaluated. The results reveal performance improvements in terms of packet loss, delay and PSNR.