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采用四叉树对机器人工作平面（空间）建模，在此基础上提出了实现Ａ路径规划算法．仿真结果表明，该算法是一种正确、高效、实用的成功算法．
The working plane (space) of the robot was modeled by using quadtree, and the algorithm of A-path planning was put forward. Simulation results show that this algorithm is a correct, efficient and practical success algorithm.