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In order to deal with the longer delay and extra cost arising from the combination of AAA(authentication, authority and accounting) and mobile Ipv6, a new hierarchical AAA mobility management architecture (HA-MMA) is proposed in this paper, which is comprised of root AAA servers (RAAAS), middle AAA servers (MAAAS) and leaf AAA servers (LAAAS). However, the authentication frequency will be increased by the happening of high frequency handoff, When the mobile node (MN) moves frequently between two neighboring LAAAS domains with a high speed, it causes inter authentication. Under such circumstance, the preplanned AAA server management domain would lead to more extra cost and latency without an adaptive adjustment. To deal with such problems, a dynamic domain reorganizing scheme is proposed in this paper, including a novel dynamic reorganizing mechanism for RAAAS management domain (DRM-RAAAS) and a domain discovery algorithm based on authentication strength (DDA-AS), which will reduce the total cost and delay obviously. As shown by the simulation results, the total system cost is decreased by about 52% with the use of this scheme.