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There are some deficiencies in the Monte Carlo localization algorithm based on rangefinder, which like location probability distribution of the k moment in the prediction phase only related to the localization of the k − 1 moment and the maximum and minimum velocity. And the influences of the motion condition on the movement of the mobile node at k moment are also not considered before the k − 1 moment. What is more is the process of selecting the effective particles is slow in the algorithm.doi:10.1186/s13638-018-1165-7 fatcat:3temv7xj6fdcpkq6e2mwxbbici