Abstract
In this paper, we discuss underwater walking robot technology to improve the quality of raw data in sector-scanning sonar images. We propose a strategy for an efficient and precise sector-scanning sonar image acquisition method for use in shallow, strong tidal water with a curved and sloped seabed environment. We verified the strategy by analyzing images acquired through a sea trial using the sector-scanning sonar installed on the CRABSTER (CR200). Before creating this strategy, an experiment was conducted to acquire the seabed image near a pier using a tripod and vertical pole. To overcome the problems and limitations revealed through image analysis, we established two technical strategies. In conclusion, we were able to achieve those technical strategies by using the CR200, which is resistant to strong current, and its six legs provide freedom of movement, allowing for a good sonar attitude.
Highlights
While visibility can range from 6 to 15 m in the deep ocean, this range can be reduced to 1 to 6 m in near-shore water
As the level of reverberation decreases with range, the rate of positioning errors increases, which can decrease the performance of in-vehicle navigation
To overcome the limitations of the current methods and to improve the quality of raw data, in this paper, we propose two technical methods (hula hoop motion (HHM) and control posture) to be used with new techniques using an underwater walking robot: the CRABSTER (CR200)
Summary
While visibility can range from 6 to 15 m in the deep ocean, this range can be reduced to 1 to 6 m in near-shore water. The SONAR (sound navigation and ranging) system is the most widely adopted solution for remote sensing and is very useful for underwater observation and surveillance in coastal waters with poor visibility due to sediments [2,3,4,5]. As the level of reverberation decreases with range, the rate of positioning errors increases, which can decrease the performance of in-vehicle navigation. Because of this navigation deficiency, more robust object detection and additional information regarding object movement are necessary to ensure obstacle avoidance. The consist of four dedicated degrees of freedom and two armsarms withwith seven degrees of freedom, allowing it toitwalk on the four degrees of freedom and robotic two robotic seven degrees of freedom, allowing to walk on seafloor like a crab and perform underwater work using its arms
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
