西儲大學的學生設計了一種自動割草機,通過限定割草路徑來割草,,并避開障礙。該小組集合了傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" 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title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器" title="傳感器">傳感器,,控制算法,,系統(tǒng)控制和圖像處理進行工程實踐。2010年6月,,該小組獲得了第七屆導航學會(ION)自動割草機競賽第一名,。以下介紹了他們是如何做到的。
硬件API
使用NI 9401 C系列數(shù)字I/O模塊,,小組利用編碼器來測量速度和位置。通過與硬件的緊密結合,,他們可以快速的從多個傳感器中獲得數(shù)據(jù),。
為了確定機器人的狀態(tài),該小組采用了數(shù)學函數(shù)進行卡爾曼濾波,。他們利用了LabVIEW 內置的數(shù)學函數(shù),,對傳感器測量的數(shù)據(jù)進行了內聯(lián)分析。
為了檢測到障礙物,,學生利用NI視覺軟件進行采集,,處理并顯示來自攝像頭的圖像,。利用用戶界面,學生通過色彩和視覺紋理來識別障礙,。
學生利用FPGA技術的優(yōu)點來采集時序要求嚴格的數(shù)據(jù),,以控制機器人。與VHDL相比,,LabVIEW 圖形化編程簡化了嵌入式FPGA程序編程的復雜性,。
為了整合現(xiàn)有的代碼,,學生采用了調用庫函數(shù)節(jié)點,,將ANSI C中開發(fā)的算法合并到LabVIEW程序中。結合LabVIEW中的多種編程方式,,學生實現(xiàn)了代碼重用和開發(fā)優(yōu)化,。