## Navigation on Topologic Feature-Maps

• Based on the idea of using topologic feature-mapsinstead of geometric environment maps in practical mobile robot tasks, we show an applicable way tonavigate on such topologic maps. The main features regarding this kind of navigation are: handling of very inaccurate position (and orientation) information as well as implicit modelling of complex kinematics during an adaptation phase. Due to the lack of proper a-priori knowledge, a re-inforcement based model is used for the translation of navigator commands to motor actions. Instead of employing a backpropagation network for the cen-tral associative memory module (attaching actionprobabilities to sensor situations resp. navigatorcommands) a much faster dynamic cell structure system based on dynamic feature maps is shown. Standard graph-search heuristics like A* are applied in the planning phase.

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Verfasserangaben: Uwe R. Zimmer, Cornelia Fischer, Ewald von Puttkamer urn:nbn:de:hbz:386-kluedo-2935 Preprint Englisch 1994 1994 Technische Universität Kaiserslautern 03.04.2000 Fachbereich Informatik 0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011

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