针对传统的尺度均一概率栅格地图表达法在大尺度未知环境下地图创建过程中海量数据存储和相关量计算问题,提出一类基于四叉树的栅格大小自适应地图创建算法.利用四叉树理论,根据地图不同区域环境障碍物密度的变化,自适应调整各区域栅格尺度大小.仿真结果表明,所提出的算法不仅降低了数据存储量,而且栅格量的减少使得相关量计算大大降低,提高了移动机器人地图创建的实时性和地图表达的精度. Aiming at the problem of mass data storage and related quantity calculation in traditional scale homogeneous probability grid map method in large scale unknown map creation process, a quadtree based grid size adaptive map creation algorithm is proposed. Tree theory, according to the change of the density of environmental obstacles in different regions of the map, the scale of each region is adaptively adjusted.The simulation results show that the proposed algorithm not only reduces the amount of data storage, but also reduces the amount of grid, Reduce, improve the real-time mobile map creation and map expression accuracy.