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Cognitive Navigation

An Overview of Three Navigation Paradigms Leading to the Concept of an Affordance Hierarchy

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Abstract

In this paper we propose a navigation framework for flexible off-road navigation that allows to use different navigation paradigms depending on the given situation. We first classify existing navigation approaches into, global navigation, reactive navigation and guided navigation and then show how a unified view leads to a very flexible navigation architecture that we call affordance hierarchy.

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Notes

  1. See the video “Lola, der humanoide Laufroboter” at http://www.youtube.com/watch?v=qjBLT1eNkvk.

  2. http://en.wikipedia.org/wiki/Ernst_Dickmanns.

  3. Here, a “path” is a path through the affordance hierarchy and not a path in the world.

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Authors and Affiliations

  1. Institute for Autonomous Systems Technology (TAS), University of the Bundeswehr Munich, Werner-Heisenberg-Weg 39, 85579, Neubiberg, Germany

    Felix von Hundelshausen, Thorsten Luettel & Hans-Joachim Wuensche

Authors
  1. Felix von Hundelshausen
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  2. Thorsten Luettel
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  3. Hans-Joachim Wuensche
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Correspondence to Felix von Hundelshausen.

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von Hundelshausen, F., Luettel, T. & Wuensche, HJ. Cognitive Navigation. Künstl Intell 25, 125–132 (2011). https://doi.org/10.1007/s13218-011-0092-0

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