This paper presents the research of a low computational complexity, heuristic-based algorithm for indoor path tracking over a low-cost, simple connected wireless sensor network in the applications of the tour guidance in the theme exhibition, large-scale market and shopping center, etc. This heuristic path tracking algorithm (HPTA) incorporates the weighted vertex-in-the-intersection method for localization and the intuitive methodologies for path tracking while considering the effects of received signal deterioration through a RSSI vs. distance curve which plotted by experimental measurements. Four simulated paths and one 16-meter-long real path have been conducted to evaluate the HPTA performance on optimality. The numerical results show that HPTA achieves the best tracking result comparing to three other developed techniques.