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环境建模是移动机器人路径规划的基础．针对部分已知或完全未知的环境，本文提出一种基于位置码的四叉树环境模型，通过建立四叉树节点位置码与其笛卡尔坐标的一一对应关系，将对四叉树的操作转换到位置码空间，从而简化了对四叉树的操作．文中研究了基于位置码的四叉树的重要操作，并给出了详细的算法；基于该模型，作者利用 Ａ算法进行路径规划的仿真研究，仿真结果证明了该模型的有效性．
Environmental modeling is the basis of mobile robot path planning. In this paper, a quadtree environment model based on location code is proposed for partially known or completely unknown environment. By establishing a one-to-one correspondence between location codes of quadtree nodes and their Cartesian coordinates, the quadtree operation transformation To the location of the code space, which simplifies the operation of the quadtree. In this paper, the important operation of the quadtree based on location code is studied and a detailed algorithm is given. Based on this model, the author uses A algorithm to simulate the path planning, and the simulation results show the validity of the model.