Many-core processor is one of attractive solutions to Cyber-Physical Systems (CPS) that demands high computational power since it can enclose many computational elements into a single physical chip. Network-on-Chip (NoC) that connects the processing cores is the key in terms of the cost, performance, and power in such systems. Although NoCs typically employ simple deterministic routing algorithms in order to reduce the complexity of on-chip routers, such deterministic algorithms do not avoid traffic congestion and thus the network throughput is degraded when the traffic pattern has localities. On the other hand, complex algorithms require large hardware cost and will be a problem for CPS whose hardware cost is limited. In this paper, we propose an adaptive on-chip router with Predictor for Regional Congestion (PRC) in order to improve the network throughput with modest hardware overhead. The proposed PRC routers exchange their past and predicted future congestion information with each other. Then, each router synthesizes its regional congestion information based on the local and received information in order to route packets without congestion. The simulation results show that the proposed routers improve the average throughput by 17.2% compared to a congestion-aware router that employes local information only. The RTL design of the proposed router shows that the area overhead is only 2.6% and additional wiring requirement for each router port is only three.