A novel path planning method for biomimetic robot based on deep learning

摘要

Purpose - This paper aims to design a multi-layer convolutional neural network (CNN) to solve biomimetic robot path planning problem. Design/methodology/approach - At first, the convolution kernel with different scales can be obtained by using the sparse auto encoder training algorithm; the parameter of the hidden layer is a series of convolutional kernel, and the authors use these kernels to extract first-layer features. Then, the authors get the second-layer features through the max-pooling operators, which improve the invariance of the features. Finally, the authors use fully connected layers of neural networks to accomplish the path planning task. Findings - The NAO biomimetic robot respond quickly and correctly to the dynamic environment. The simulation experiments show that the deep neural network outperforms in dynamic and static environment than the conventional method. Originality/value - A new method of deep learning based biomimetic robot path planning is proposed. The authors designed a multi-layer CNN which includes max-pooling layer and convolutional kernel. Then, the first and second layers features can be extracted by these kernels. Finally, the authors use the sparse auto encoder training algorithm to train the CNN so as to accomplish the path planning task of NAO robot.