Provided are a routing table generating method, a data transmission method, and a routing route formation method for multi-hop communication in high rate wireless personal networks. In a high rate WPAN environment including a plurality of piconets, a piconet controller (PNC), which performs a topology server function to provide the optimal route, collects link state information from the PNCs or DEVs (devices) belonging to a sub-tree that serves as a root and applies a minimum cost algorithm based on the collected link state information to calculate the optimal route for all pairs of originations and destinations existing within the sub-tree in consideration of QoS. The optimal route information is transmitted to the origination PNC via the destination PNC/DEV. During performing this, the optimal route between the pairs of originations and destinations is set.