A method of route discovery in wireless mesh networks comprises: receiving, by a first mesh network device of a wireless mesh network, from a second mesh network device of the wireless mesh network, a first route request identifying a destination mesh network device of the wireless mesh network and a first path selection metric value; determining a path selection metric increment, wherein the path selection metric increment reflects a radio channel contention by the first mesh network device and the second mesh network device; generating a second path selection metric value by adding the path selection metric increment to the first path selection metric value; and broadcasting a second route request identifying the destination mesh network device and the second path selection metric value.