diff --git a/cluster/router/selfDiscovery/factory.go b/cluster/router/selfDiscovery/factory.go
new file mode 100644
index 0000000000000000000000000000000000000000..dd035a6659b5f0ed3ad3e8330359427b84308019
--- /dev/null
+++ b/cluster/router/selfDiscovery/factory.go
@@ -0,0 +1,43 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package self_disc
+
+import (
+	"github.com/apache/dubbo-go/cluster/router"
+	"github.com/apache/dubbo-go/common"
+	"github.com/apache/dubbo-go/common/constant"
+	"github.com/apache/dubbo-go/common/extension"
+)
+
+func init() {
+	extension.SetRouterFactory(constant.SelfDiscoveryRouterName, newSelfDiscRouteFactory)
+}
+
+// SelfDiscRouteFactory
+type SelfDiscRouteFactory struct {
+}
+
+// newHealthCheckRouteFactory construct a new HealthCheckRouteFactory
+func newSelfDiscRouteFactory() router.PriorityRouterFactory {
+	return &SelfDiscRouteFactory{}
+}
+
+// NewPriorityRouter construct a new NewHealthCheckRouter via url
+func (f *SelfDiscRouteFactory) NewPriorityRouter(url *common.URL) (router.PriorityRouter, error) {
+	return NewSelfDiscRouter(url)
+}
diff --git a/cluster/router/selfDiscovery/factory_test.go b/cluster/router/selfDiscovery/factory_test.go
new file mode 100644
index 0000000000000000000000000000000000000000..4fcdd32f16b21e8b8e44267392a2e9b2a40bdbb5
--- /dev/null
+++ b/cluster/router/selfDiscovery/factory_test.go
@@ -0,0 +1,74 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package self_disc
+
+import (
+	"context"
+	"testing"
+)
+
+import (
+	"github.com/stretchr/testify/assert"
+)
+
+import (
+	"github.com/apache/dubbo-go/common"
+	"github.com/apache/dubbo-go/protocol"
+)
+
+// nolint
+type MockInvoker struct {
+	url *common.URL
+}
+
+// nolint
+func NewMockInvoker(url *common.URL) *MockInvoker {
+	return &MockInvoker{
+		url: url,
+	}
+}
+
+// nolint
+func (bi *MockInvoker) GetUrl() *common.URL {
+	return bi.url
+}
+
+// nolint
+func (bi *MockInvoker) IsAvailable() bool {
+	return true
+}
+
+// nolint
+func (bi *MockInvoker) IsDestroyed() bool {
+	return true
+}
+
+// nolint
+func (bi *MockInvoker) Invoke(_ context.Context, _ protocol.Invocation) protocol.Result {
+	return nil
+}
+
+// nolint
+func (bi *MockInvoker) Destroy() {
+}
+
+// nolint
+func TestHealthCheckRouteFactory(t *testing.T) {
+	factory := newSelfDiscRouteFactory()
+	assert.NotNil(t, factory)
+}
diff --git a/cluster/router/selfDiscovery/self_disc_route.go b/cluster/router/selfDiscovery/self_disc_route.go
new file mode 100644
index 0000000000000000000000000000000000000000..ca697bfc43fac77e65391904d9e2f87ce183260f
--- /dev/null
+++ b/cluster/router/selfDiscovery/self_disc_route.go
@@ -0,0 +1,106 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package self_disc
+
+import (
+	"github.com/RoaringBitmap/roaring"
+)
+
+import (
+	"github.com/apache/dubbo-go/cluster/router"
+	"github.com/apache/dubbo-go/cluster/router/utils"
+	"github.com/apache/dubbo-go/common"
+	"github.com/apache/dubbo-go/common/logger"
+	"github.com/apache/dubbo-go/protocol"
+)
+
+const (
+	HEALTH_ROUTE_ENABLED_KEY = "health.route.enabled"
+	selfDesc                 = "self-desc"
+	name                     = "health-check-router"
+)
+
+// SelfDiscRouter provides a health-first routing mechanism through HealthChecker
+type SelfDiscRouter struct {
+	url     *common.URL
+	localIP string
+}
+
+// NewSelfDiscRouter construct an HealthCheckRouter via url
+func NewSelfDiscRouter(url *common.URL) (router.PriorityRouter, error) {
+	r := &SelfDiscRouter{
+		url:     url,
+		localIP: url.Ip,
+	}
+	return r, nil
+}
+
+// Route gets a list of healthy invoker
+func (r *SelfDiscRouter) Route(invokers *roaring.Bitmap, cache router.Cache, url *common.URL, invocation protocol.Invocation) *roaring.Bitmap {
+	addrPool := cache.FindAddrPool(r)
+	// Add healthy invoker to the list
+	selectedInvokers := utils.JoinIfNotEqual(addrPool[selfDesc], invokers)
+	// If all invokers are considered unhealthy, downgrade to all invoker
+	if selectedInvokers.IsEmpty() {
+		logger.Warnf(" Now all invokers are not match, so downgraded to all! Service: [%s]", url.ServiceKey())
+		return invokers
+	}
+	return selectedInvokers
+}
+
+// Pool separates healthy invokers from others.
+func (r *SelfDiscRouter) Pool(invokers []protocol.Invoker) (router.AddrPool, router.AddrMetadata) {
+	rb := make(router.AddrPool, 8)
+	rb[selfDesc] = roaring.NewBitmap()
+	selfDescFound := false
+	logger.Debug("local ip = ", r.localIP)
+	for i, invoker := range invokers {
+		if invoker.GetUrl().Ip == r.localIP {
+			rb[selfDesc].Add(uint32(i))
+			selfDescFound = true
+		}
+	}
+	if selfDescFound {
+		// found self desc
+		logger.Debug("found self desc ")
+		return rb, nil
+	}
+	for i, _ := range invokers {
+		rb[selfDesc].Add(uint32(i))
+	}
+	return rb, nil
+}
+
+// ShouldPool will always return true to make sure healthy check constantly.
+func (r *SelfDiscRouter) ShouldPool() bool {
+	return true
+}
+
+func (r *SelfDiscRouter) Name() string {
+	return name
+}
+
+// Priority
+func (r *SelfDiscRouter) Priority() int64 {
+	return 0
+}
+
+// URL Return URL in router
+func (r *SelfDiscRouter) URL() *common.URL {
+	return r.url
+}
diff --git a/cluster/router/selfDiscovery/self_disc_route_test.go b/cluster/router/selfDiscovery/self_disc_route_test.go
new file mode 100644
index 0000000000000000000000000000000000000000..fcb90948402097b5735b834ba57bdd5675817f1d
--- /dev/null
+++ b/cluster/router/selfDiscovery/self_disc_route_test.go
@@ -0,0 +1,76 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package self_disc
+
+import (
+	"fmt"
+	"testing"
+)
+
+import (
+	"github.com/stretchr/testify/assert"
+)
+
+import (
+	"github.com/apache/dubbo-go/cluster/router"
+	"github.com/apache/dubbo-go/cluster/router/chain"
+	"github.com/apache/dubbo-go/cluster/router/utils"
+	"github.com/apache/dubbo-go/common"
+	"github.com/apache/dubbo-go/protocol"
+	"github.com/apache/dubbo-go/protocol/invocation"
+)
+
+const (
+	healthCheckRoute1010IP         = "192.168.10.10"
+	healthCheckRoute1011IP         = "192.168.10.11"
+	healthCheckRoute1012IP         = "192.168.10.12"
+	healthCheckRouteMethodNameTest = "test"
+	healthCheck1001URL             = "dubbo://192.168.10.1/com.ikurento.user.UserProvider"
+	healthCheckRouteUrlFormat      = "dubbo://%s:20000/com.ikurento.user.UserProvider"
+)
+
+func TestHealthCheckRouterRoute(t *testing.T) {
+	defer protocol.CleanAllStatus()
+	consumerURL, _ := common.NewURL(fmt.Sprintf(healthCheckRouteUrlFormat, healthCheckRoute1010IP))
+	url1, _ := common.NewURL(fmt.Sprintf(healthCheckRouteUrlFormat, healthCheckRoute1010IP))
+	url2, _ := common.NewURL(fmt.Sprintf(healthCheckRouteUrlFormat, healthCheckRoute1011IP))
+	url3, _ := common.NewURL(fmt.Sprintf(healthCheckRouteUrlFormat, healthCheckRoute1012IP))
+	hcr, _ := NewSelfDiscRouter(consumerURL)
+
+	var invokers []protocol.Invoker
+	invoker1 := NewMockInvoker(url1)
+	invoker2 := NewMockInvoker(url2)
+	invoker3 := NewMockInvoker(url3)
+	invokers = append(invokers, invoker1, invoker2, invoker3)
+	inv := invocation.NewRPCInvocation(healthCheckRouteMethodNameTest, nil, nil)
+	res := hcr.Route(utils.ToBitmap(invokers), setUpAddrCache(hcr.(*SelfDiscRouter), invokers), consumerURL, inv)
+	// now all invokers are healthy
+	assert.True(t, len(res.ToArray()) == 1)
+
+	invokers = invokers[1:]
+	res = hcr.Route(utils.ToBitmap(invokers), setUpAddrCache(hcr.(*SelfDiscRouter), invokers), consumerURL, inv)
+	assert.True(t, len(res.ToArray()) == 2)
+}
+
+func setUpAddrCache(r router.Poolable, addrs []protocol.Invoker) router.Cache {
+	pool, info := r.Pool(addrs)
+	cache := chain.BuildCache(addrs)
+	cache.SetAddrMeta(r.Name(), info)
+	cache.SetAddrPool(r.Name(), pool)
+	return cache
+}
diff --git a/common/constant/key.go b/common/constant/key.go
index 0515094f285a4bf598b04e2ea1ef376325de7ac1..13ff1eeb5531c677790509a8abbf6da05bad2888 100644
--- a/common/constant/key.go
+++ b/common/constant/key.go
@@ -214,6 +214,8 @@ const (
 	ListenableRouterName = "listenable"
 	// HealthCheckRouterName Specify the name of HealthCheckRouter
 	HealthCheckRouterName = "health_check"
+	// SelfDiscoveryRouterName Specify the name of HealthCheckRouter
+	SelfDiscoveryRouterName = "self_disc"
 	// TagRouterName Specify the name of TagRouter
 	TagRouterName = "tag"
 	// TagRouterRuleSuffix Specify tag router suffix