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Open AccessArticle

The Application of Sector-Scanning Sonar: Strategy for Efficient and Precise Sector-Scanning Using Freedom of Underwater Walking Robot in Shallow Water

1
Ocean System Engineering Research Division, KRISO, 32 Yuseong-daero, 1312 beon-gil, Yuseong-gu, Daejeon 34103, Korea
2
Department of Mechatronics Engineering, Chungnam National University, 99 daehak-ro, Yuseong-gu, Daejeon 34134, Korea
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(13), 3654; https://doi.org/10.3390/s20133654
Received: 22 May 2020 / Revised: 19 June 2020 / Accepted: 25 June 2020 / Published: 29 June 2020
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. View Full-Text
Keywords: sector scanning sonar; CRABSTER; CR200; underwater walking robot; ROV; reverberation sector scanning sonar; CRABSTER; CR200; underwater walking robot; ROV; reverberation
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Baek, H.; Jun, B.-H.; Noh, M.D. The Application of Sector-Scanning Sonar: Strategy for Efficient and Precise Sector-Scanning Using Freedom of Underwater Walking Robot in Shallow Water. Sensors 2020, 20, 3654.

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