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Geometric routing protocols benefit from localized Delaunay triangulation, which can guarantee the delivery of packet and bound the length of route. In this paper we propose a localized algorithm to build Delaunay triangulation in wireless ad hoc network. The algorithm considers not only stationary situation but also dynamic situation in which nodes can dynamically join and leave the network. The communication cost of the algorithm is O(nlogn). Therefore, our algorithm is applicable in wireless sensor network, in which nodes dynamically join and leave network. We also prove the correctness of the algorithm.