The Internet of Things (IoT) interconnects massive cyber-physical devices (CPD) to provide various applications, such as smart home and smart building. Bluetooth Mesh is an emerging networking technology, which can be used to organize a massive network with Bluetooth Low Energy (BLE) devices. Managed-flooding protocol is used in Bluetooth Mesh to route the data packets. Although it is a highly desirable option when data transmission is urgent, it is inefficient in a larger and denser mesh network due to the collisions of broadcast data packets. In this paper, we introduce ACE: a Routing Algorithm based on Autonomous Channel Scheduling for Bluetooth Mesh Network. ACE relies on the existing Bluetooth Mesh messages to distribute routes without additional traffic overhead and conducts a beacon-aware routing update adaptively as the topology evolves. In ACE, BLE channel resources can be efficiently utilized by a channel scheduling scheme for each node locally and autonomously without any neighborly negotiation. We implement ACE on the nRF52840 from Nordic Semiconductor and evaluate its effectiveness on our testbed. Compared to the Bluetooth Mesh, our experiments proved that ACE could reduce the end-to-end latency by 16%, alleviate packets collisions issues, and increase the packet delivery ratio (PDR) by 30% under heavy traffic. Moreover, simulation results verified that ACE has better scalability when the size and density of networks become larger and denser.