Torque Control with Kriging Estimation for the Crab Rover

For the six-wheel CRAB rover, this paper presents the torque control with Kriging estimation to improve the terrainability by minimizing wheel slip. In previous works, we presented a torque control approach, effectively improving terrainability by minimizing the variance of the required friction coefficient based on the static model. Using a Kalman filter to estimate the velocity information, a correction torque can be computed by Kriging estimation. Kriging estimation was chosen because of the following important properties: no recursive computation and unbiased. Experiments are presented wearing tires with different friction coefficients.