Mapping algorithm using adaptive size of occupancy grids based on quadtree

The normal probabilistic occupancy grids approach requires huge memory and complex computation of data association to map in unknown large-scale environments.Therefore,this paper proposes an adaptive size of occupancy grids method based on quadtree for mapping.By utilizing the theory of quadtree,the size of occupancy grids is automatically adjusted by the obstacle density of different zones in maps.Simulation experiment results show that,the mapping algorithm reduces the memory of map data and the computation of data association because of the reduced number of grids,which improves mobile robot's performance of mapping in unknown large-scale environments.