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This paper proposes a collaborative target tracking algorithm considering the energy constraint problem in wireless sensor networks. In the proposed method, we use the extended Kalman filter (EKF) to estimate the trajectory of a dynamic target. The estimation contains the location of the target and its moving direction. Based on the estimation, selecting tasking group and tracking algorithms are proposed. The former is used to schedule and manage sensor behavior. The latter is used to track a moving target, to report to the base station, and to predict a wake-up zone. Simulation results confirmed that our method can track multiple targets considering the trade-off between the energy consumption and the accuracy of tracking performance.