The project aims to investigate principles of self-organizing maps (SOM) for routing problems in high-dimensional configuration spaces. The addressed problems are from the family of multi-goal path and motion planning problems, where an optimal path or trajectory connecting a given set of goals has to be found. The motivation of the proposed scientific effort is to find a path/trajectory regarding realistic capabilities of mobile robots including their autonomous navigation. Thus, a found path would improve reliability and robustness of the autonomous navigation enabling robotic applications in daily tasks. The project comprises three scientific objectives. The first one deals with finding a representation of high-dimensional configuration space allowing usage of SOM principles for planning in an effective way. The second objective aims to develop a multi-goal motion planning algorithm providing a local planner and estimation of distance metric in the space. Finally, the third objective is to establish the planning framework considering localization uncertainties.