Application of high resolution scanning sonar with multi - Legged underwater robot

This study looks into the high resolution scanning sonar application with multi legged underwater robot. Generally these sonars acquire horizontal images by using a tripod. But in shallow water, it is tough to get detailed images because of surface reverberation and multipath. To solve these problems, we had conventionally installed some motors to offer pitch angle to sensor itself, reduced size of vertical beam and operating ranges. However, these methods also cannot be the ultimate solution. The tripod still existed and the posture provided by it was always unstable. So, we obtained image data using high resolution scanning sonar and reviewed application probability of it with CR200, which can supply desired posture and inclination.