Firefly Optimization-Based Cooperative Localization Algorithm for Intelligent IoT

Algorithm 1

Traditional firefly algorithm. Specific flow of the traditional firefly algorithm.

	Input:
	the measured distance from the k-th anchor node
	to the unknown node
	Output:
	the estimated position of the unknown node
(1)	Randomly initialize the fireflies;
(2)	While maximum iteration is not reached do
(3)	Calculate the objective value of the firefly using formula (2)
(4)	Calculate the relative brightness of fireflies;
(5)	Calculate the attraction of fireflies;
(6)	Update the position
(7)	end