UWB Base Station Cluster Localization for Unmanned Ground Vehicle Guidance

Algorithm 1

Dynamic PSO.

	Input: valid area , radius of approximate disk
	Output: set consists of best particles with different lengths
(1)	Set parameters: swarm size , iteration number
(2)	Set parameters for PSO:
(3)
(4)	Group number range: ,
(5)	fordo
(6)
(7)
(8)
(9)
(10)	fordo
(11)	fordo
(12)
(13)
(14)
(15)
(16)	end for
(17)
(18)	end for
(19)
(20)	end for