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a very simple question about Control Input in SLAM

asked 2013-07-11 21:40:05 -0500

jizhe gravatar image

updated 2014-01-28 17:17:14 -0500

ngrennan gravatar image

I recently began to learn SLAM. I read about the materials written by Hough Durrant Whyte, in which it states that the Control Input U is assumed already known. I wonder where the Control Input U come from. The Complete statement is as following:

The definition of SLAM problem

No information about m is provided

The initial location x0 is assumed known (the origin)

The sequence of control actions Uk is given

Build the Map m

At the same time inferences about the locations of the vehicle Xk

Recognise that the two inference problems are coupled.

Isn't the Control Input U is one output of the Kalman filter? If not, where does it come from?

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This is not ROS question. You should ask in other forums about questions not related to ROS.

l4ncelot gravatar imagel4ncelot ( 2017-11-01 08:09:20 -0500 )edit

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answered 2017-10-31 11:15:49 -0500

bpinaya gravatar image

Hi there, the control input U is the action that you input to the system. If you have a linearized equation of your system then the state space representation of it would be something like:

image description

In that case, u(t) is the input to your system. So if you have a car, it'll be the motor's speed. You can read more about state space here: https://en.wikipedia.org/wiki/State-s...

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I posted this question many years ago, and today I got the reply. Although I've known the answer, I still want to say: thanks very much!

jizhe gravatar imagejizhe ( 2017-11-02 23:16:13 -0500 )edit

didn't notice that, glad I could be of help! And upvote would help ;)

bpinaya gravatar imagebpinaya ( 2017-11-03 07:16:08 -0500 )edit

As well as accepting the answer, if you liked it.

Mark Rose gravatar imageMark Rose ( 2018-06-28 11:18:15 -0500 )edit

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Asked: 2013-07-11 21:40:05 -0500

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Last updated: Oct 31 '17