In recent years, more and more applications use ad-hoc networks for local area communications, especially in key technologies that are expected to play a vital role in future society, and HANETs (Heterogeneous Ad-hoc Networks) are becoming a hot topic. In this study, we propose a delay minimization method for HANETs composed of drone swarms, assuming 1) every drone moves independently without being aware of inter-connectivity and 2) only protocol translators, which called GWs, are controllable for their movement. We also designed a concrete L3 protocol so that the proposed algorithm can be deployed in a real distributed environment. The proposed protocol is based on HWMP with some modifications to the standard message format. We carried out computer simulation to evaluate the performance and it turned out the method significantly reduces the communication delay.