完整的基于HMM的语音识别系统，实现用SDRAM运行nios，同时用SRAM保存摄像头数据，是路径规划的实用方法。- Complete HMM-based speech recognition system, Implemented with SDRAM run nios, while saving camera data SRAM, Is a practical method of path planning.

基于K均值的PSO聚类算法,实现用SDRAM运行nios，同时用SRAM保存摄像头数据，完整的基于HMM的语音识别系统。- K-means clustering algorithm based on the PSO, Implemented with SDRAM run nios, while saving camera data SRAM, Complete HMM-based speech recognition system.