Hundelshausen, FelixLuettel, ThorstenWuensche, Hans-Joachim2018-01-082018-01-0820112011https://dl.gi.de/handle/20.500.12116/11203In 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.4D-approachAffordancesCognitive navigationPath planningText/Journal Article1610-1987