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An efficient path planning approach in mobile beacon localization for the randomly deployed wireless sensor nodes is proposed in this paper. Firstly, in order to improve localization accuracy, the weighting function based on the distance between nodes is constructed. Moreover, an iterative multilateration algorithm is also presented to avoid decreasing the localization accuracy. Furthermore, a path planning algorithm based on grid scan which can traverse entirely in sensor field is described. At the same time, the start conditions of localization algorithm are also proposed to improve localization accuracy. To evaluate the proposed path planning algorithm, the localization results of beacon nodes randomly deployed in sensor field are also provided. The proposed approach can provide the deployment uniformly of virtual beacon nodes among the sensor fields and the lower computational complexity of path planning compared with method which utilizes only mobile beacons on the basis of a random movement. The performance evaluation shows that the proposed approach can reduce the beacon movement distance and the number of virtual mobile beacon nodes by comparison with other methods

An Efficient Node Localization Approach with RSSI for Randomly Deployed Wireless Sensor Networks