Localization of Large-Scale Wireless Sensor Networks Using Niching Particle Swarm Optimization and Reliable Anchor Selection

Algorithm 3

Niching PSO-based localization algorithm.

Input: unknown node and the set of selected neighbour references

Output: estimated position of

 Initialize the search space , and divide into disjoint parts

 Evaluate the distances of to each

 Generate a group of particles in each region

 Evaluate the fitness values of all particles

 Evaluate   of all particles, and   of particles group

 , ,

 ,

 for    to    do

  for    to    do

   if    then

    Update particles of group

    Re-evaluate the fitness of these particles

    Update and

    if  then

     return  

    else  if    then

    else

    end if

    if    then

    end if

   end if

   end for

   if    then

    return  

   end if

  end for

  return